Core CPU Benchmarks

Note

The linear solver is MUMPS for CPU experiments and CUDSS for GPU experiments.
Below you can find Dolan–Moré performance profiles comparing solver–model combinations on the set of optimal control problems and grid sizes. For a detailed explanation of how to read these profiles, see the Performance Profiles page.

Ubuntu Latest

This benchmark suite evaluates optimal control problems on a standard CPU platform using GitHub Actions runners.

⚙️ Configuration

Problems: balanced_field, beam, brachistochrone, bryson_denham, chain, dielectrophoretic_particle, double_oscillator, ducted_fan, electric_vehicle, glider, insurance, jackson, mountain_car, robbins, robot, rocket, space_shuttle, steering, vanderpol
Solvers: ipopt, madnlp
Models: adnlp, exa, jump
Grid sizes: 200, 500, 1000 discretization points
Discretization: trapeze method
Tolerance: 1.0e-8
Ipopt strategy: adaptive barrier parameter
Limits: 1000 iterations max, 500.0s wall time

🖥️ Environment

📅 Timestamp     : 2026-03-11 14:47:54 UTC
🔧 Julia version : 1.12.5
💻 OS            : Linux
🖥️ Machine       : runnervm0kj6c

You can download the exact environment used for this benchmark:

📦 Project.toml - Package dependencies
📋 Manifest.toml - Complete dependency tree with versions
📜 Benchmark script - Julia script to run the benchmark

These files allow you to reproduce the benchmark environment and results exactly.

ℹ️ Version info

Julia Version 1.12.5
Commit 5fe89b8ddc1 (2026-02-09 16:05 UTC)
Build Info:
  Official https://julialang.org release
Platform Info:
  OS: Linux (x86_64-linux-gnu)
  CPU: 4 × AMD EPYC 7763 64-Core Processor
  WORD_SIZE: 64
  LLVM: libLLVM-18.1.7 (ORCJIT, znver3)
  GC: Built with stock GC
Threads: 1 default, 1 interactive, 1 GC (on 4 virtual cores)
Environment:
  JULIA_PKG_SERVER_REGISTRY_PREFERENCE = eager

📦 Package status

Project CTBenchmarks v0.4.1
Status `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Project.toml`
  [6e4b80f9] BenchmarkTools v1.6.3
⌅ [54762871] CTBase v0.16.2
  [052768ef] CUDA v5.10.1
  [a93c6f00] DataFrames v1.8.1
  [ffbed154] DocStringExtensions v0.9.5
  [b6b21f68] Ipopt v1.14.1
  [682c06a0] JSON v1.4.0
  [4076af6c] JuMP v1.30.0
⌅ [d72a61cc] MadNLPGPU v0.7.18
  [3b83494e] MadNLPMumps v0.5.1
  [f4238b75] NLPModelsIpopt v0.11.2
  [5f98b655] OptimalControl v1.1.6
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  [44cfe95a] Pkg v1.12.1
  [de0858da] Printf v1.11.0
  [6462fe0b] Sockets v1.11.0
Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated`

📚 Complete manifest

Project CTBenchmarks v0.4.1
Status `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Manifest.toml`
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Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`

📈 Performance Profile CPU Time

Performance Profile Analysis

Dataset overview for core-ubuntu-latest:

Problems: 19 unique optimal control problems
Instances: 57
Solver combos: 6

Profile configuration:

Instance definition: (problem, grid_size)
Solver combos definition: (model, solver)
Criterion: CPU time
Successful runs: 334/342 (97.7%)
Successful instances: 57/57 (100.0%)
Unsuccessful instances: none (every instance had at least one successful run)

Robustness (% of instances solved):

(jump, ipopt): 98.2%
(adnlp, ipopt): 98.2%
(exa, ipopt): 98.2%
(jump, madnlp): 100.0%
(adnlp, madnlp): 91.2%
(exa, madnlp): 100.0%

Efficiency (% of instances where fastest):

(jump, ipopt): 3.5%
(adnlp, ipopt): 0.0%
(exa, ipopt): 21.1%
(jump, madnlp): 17.5%
(adnlp, madnlp): 0.0%
(exa, madnlp): 57.9%

Most robust: 2 combinations tied at 100.0%.

Most efficient: (exa, madnlp) was fastest on 57.9% of instances.

📈 Performance Profile CPU Time: two best combos

Performance Profile Analysis

Dataset overview for core-ubuntu-latest:

Problems: 19 unique optimal control problems
Instances: 57
Solver combos: 2

Profile configuration:

Instance definition: (problem, grid_size)
Solver combos definition: (model, solver)
Criterion: CPU time
Successful runs: 113/114 (99.1%)
Successful instances: 57/57 (100.0%)
Unsuccessful instances: none (every instance had at least one successful run)

Robustness (% of instances solved):

(exa, ipopt): 98.2%
(exa, madnlp): 100.0%

Efficiency (% of instances where fastest):

(exa, ipopt): 24.6%
(exa, madnlp): 75.4%

Most robust: (exa, madnlp) solved 100.0% of instances.

Most efficient: (exa, madnlp) was fastest on 75.4% of instances.

📈 Performance Profile Iterations

Performance Profile Analysis

Dataset overview for core-ubuntu-latest:

Problems: 19 unique optimal control problems
Instances: 57
Solver combos: 6

Profile configuration:

Instance definition: (problem, grid_size)
Solver combos definition: (model, solver)
Criterion: Iterations
Successful runs: 334/342 (97.7%)
Successful instances: 57/57 (100.0%)
Unsuccessful instances: none (every instance had at least one successful run)

Robustness (% of instances solved):

(jump, ipopt): 98.2%
(adnlp, ipopt): 98.2%
(exa, ipopt): 98.2%
(jump, madnlp): 100.0%
(adnlp, madnlp): 91.2%
(exa, madnlp): 100.0%

Efficiency (% of instances where fastest):

(jump, ipopt): 75.4%
(adnlp, ipopt): 77.2%
(exa, ipopt): 75.4%
(jump, madnlp): 35.1%
(adnlp, madnlp): 31.6%
(exa, madnlp): 29.8%

Most robust: 2 combinations tied at 100.0%.

Most efficient: (adnlp, ipopt) was fastest on 77.2% of instances.

📊 Tables of Results

Problem:

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	104.574	17	771.011400	min
✓	200	`adnlp`	`madnlp`	135.066	23	771.011400	min
✓	200	`exa`	`ipopt`	38.829	17	771.011400	min	✓
✓	200	`exa`	`madnlp`	39.284	23	771.011400	min
✓	200	`jump`	`ipopt`	70.988	17	771.011400	min
✓	200	`jump`	`madnlp`	105.928	23	771.011400	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	316.332	20	771.008497	min
✓	500	`adnlp`	`madnlp`	448.400	25	771.008498	min
✓	500	`exa`	`ipopt`	106.130	20	771.008497	min
✓	500	`exa`	`madnlp`	104.908	25	771.008498	min	✓
✓	500	`jump`	`ipopt`	230.327	20	771.008497	min
✓	500	`jump`	`madnlp`	355.430	25	771.008498	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	832.642	20	771.008007	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	218.603	20	771.008007	min
✓	1000	`exa`	`madnlp`	204.525	23	771.008010	min	✓
✓	1000	`jump`	`ipopt`	620.983	20	771.008007	min
✓	1000	`jump`	`madnlp`	747.061	23	771.008010	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	19.837	16	8.891335	min
✓	200	`adnlp`	`madnlp`	17.244	21	8.891335	min
✓	200	`exa`	`ipopt`	15.021	16	8.891335	min
✓	200	`exa`	`madnlp`	12.300	21	8.891335	min
✓	200	`jump`	`ipopt`	15.256	16	8.891335	min
✓	200	`jump`	`madnlp`	11.525	21	8.891335	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	46.942	18	8.889282	min
✓	500	`adnlp`	`madnlp`	34.519	18	8.889282	min
✓	500	`exa`	`ipopt`	35.009	18	8.889282	min
✓	500	`exa`	`madnlp`	23.049	18	8.889282	min
✓	500	`jump`	`ipopt`	35.691	18	8.889282	min
✓	500	`jump`	`madnlp`	22.487	18	8.889282	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	150.207	33	8.888988	min
✓	1000	`adnlp`	`madnlp`	94.578	26	8.888987	min
✓	1000	`exa`	`ipopt`	113.007	33	8.888987	min
✓	1000	`exa`	`madnlp`	67.005	28	8.888987	min
✓	1000	`jump`	`ipopt`	105.623	30	8.888987	min
✓	1000	`jump`	`madnlp`	64.450	28	8.888987	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	64.306	19	1.802935	min
✓	200	`adnlp`	`madnlp`	59.311	20	1.802935	min
✓	200	`exa`	`ipopt`	30.437	19	1.802935	min
✓	200	`exa`	`madnlp`	24.081	20	1.802935	min	✓
✓	200	`jump`	`ipopt`	44.234	19	1.802935	min
✓	200	`jump`	`madnlp`	43.693	20	1.802935	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	144.036	18	1.802932	min
✓	500	`adnlp`	`madnlp`	155.635	21	1.802932	min
✓	500	`exa`	`ipopt`	61.043	18	1.802932	min
✓	500	`exa`	`madnlp`	59.412	21	1.802932	min	✓
✓	500	`jump`	`ipopt`	109.194	18	1.802932	min
✓	500	`jump`	`madnlp`	127.776	21	1.802932	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	333.437	20	1.802932	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	136.338	20	1.802932	min
✓	1000	`exa`	`madnlp`	124.542	21	1.802932	min	✓
✓	1000	`jump`	`ipopt`	243.891	20	1.802932	min
✓	1000	`jump`	`madnlp`	381.493	21	1.802932	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	16.870	13	4.000889	min
✓	200	`adnlp`	`madnlp`	13.201	15	4.000889	min
✓	200	`exa`	`ipopt`	12.465	13	4.000889	min
✓	200	`exa`	`madnlp`	8.898	15	4.000889	min
✓	200	`jump`	`ipopt`	13.057	13	4.000889	min
✓	200	`jump`	`madnlp`	8.599	15	4.000889	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	42.080	16	4.000143	min
✓	500	`adnlp`	`madnlp`	37.997	19	4.000143	min
✓	500	`exa`	`ipopt`	30.353	16	4.000143	min
✓	500	`exa`	`madnlp`	23.097	18	4.000143	min
✓	500	`jump`	`ipopt`	31.734	16	4.000143	min
✓	500	`jump`	`madnlp`	21.047	17	4.000144	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	110.605	22	4.000037	min
✓	1000	`adnlp`	`madnlp`	89.278	23	4.000036	min
✓	1000	`exa`	`ipopt`	76.052	22	4.000037	min
✓	1000	`exa`	`madnlp`	54.981	23	4.000036	min	✓
✓	1000	`jump`	`ipopt`	76.950	22	4.000037	min
✓	1000	`jump`	`madnlp`	59.100	25	4.000036	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	15.991	7	5.068917	min
✓	200	`adnlp`	`madnlp`	14.180	7	5.068917	min
✓	200	`exa`	`ipopt`	9.547	7	5.068917	min
✓	200	`exa`	`madnlp`	8.006	7	5.068917	min	✓
✓	200	`jump`	`ipopt`	14.029	7	5.068917	min
✓	200	`jump`	`madnlp`	14.564	7	5.068917	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	71.452	14	5.068578	min
✓	500	`adnlp`	`madnlp`	63.835	14	5.068578	min
✓	500	`exa`	`ipopt`	41.089	14	5.068578	min
✓	500	`exa`	`madnlp`	35.921	14	5.068578	min	✓
✓	500	`jump`	`ipopt`	62.463	14	5.068578	min
✓	500	`jump`	`madnlp`	60.679	14	5.068578	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	72.866	6	5.068510	min
✓	1000	`adnlp`	`madnlp`	53.376	6	5.068510	min
✓	1000	`exa`	`ipopt`	39.702	6	5.068510	min
✓	1000	`exa`	`madnlp`	30.804	6	5.068510	min	✓
✓	1000	`jump`	`ipopt`	65.119	6	5.068510	min
✓	1000	`jump`	`madnlp`	65.547	6	5.068510	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	28.254	12	7.811387	min
✓	200	`adnlp`	`madnlp`	25.143	13	7.811387	min
✓	200	`exa`	`ipopt`	13.132	12	7.811387	min
✓	200	`exa`	`madnlp`	9.449	13	7.811387	min	✓
✓	200	`jump`	`ipopt`	18.708	12	7.811387	min
✓	200	`jump`	`madnlp`	15.484	13	7.811387	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	66.343	13	7.811324	min
✓	500	`adnlp`	`madnlp`	71.920	15	7.811325	min
✓	500	`exa`	`ipopt`	29.800	13	7.811324	min
✓	500	`exa`	`madnlp`	24.364	15	7.811325	min	✓
✓	500	`jump`	`ipopt`	40.707	13	7.811324	min
✓	500	`jump`	`madnlp`	41.507	15	7.811325	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	144.393	13	7.811314	min
✓	1000	`adnlp`	`madnlp`	195.427	16	7.811315	min
✓	1000	`exa`	`ipopt`	58.515	13	7.811314	min
✓	1000	`exa`	`madnlp`	52.431	16	7.811315	min	✓
✓	1000	`jump`	`ipopt`	83.302	13	7.811314	min
✓	1000	`jump`	`madnlp`	95.198	16	7.811315	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	18.251	5	0.000910	min
✓	200	`adnlp`	`madnlp`	16.799	5	0.000910	min
✓	200	`exa`	`ipopt`	11.104	5	0.000910	min
✓	200	`exa`	`madnlp`	7.976	5	0.000910	min	✓
✓	200	`jump`	`ipopt`	10.019	5	0.000910	min
✓	200	`jump`	`madnlp`	8.010	5	0.000910	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	42.850	5	0.000911	min
✓	500	`adnlp`	`madnlp`	48.611	6	0.000911	min
✓	500	`exa`	`ipopt`	25.429	5	0.000911	min
✓	500	`exa`	`madnlp`	21.648	6	0.000911	min
✓	500	`jump`	`ipopt`	21.584	5	0.000911	min
✓	500	`jump`	`madnlp`	20.183	6	0.000911	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	87.945	5	0.000911	min
✓	1000	`adnlp`	`madnlp`	99.527	6	0.000911	min
✓	1000	`exa`	`ipopt`	49.162	5	0.000911	min
✓	1000	`exa`	`madnlp`	43.155	6	0.000911	min
✓	1000	`jump`	`ipopt`	41.223	5	0.000911	min
✓	1000	`jump`	`madnlp`	39.742	6	0.000911	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	949.812	94	1831.941573	min
✓	200	`adnlp`	`madnlp`	271.035	41	1831.941575	min
✓	200	`exa`	`ipopt`	502.165	92	1831.941573	min
✓	200	`exa`	`madnlp`	154.781	41	1831.941575	min	✓
✓	200	`jump`	`ipopt`	703.211	92	1831.941573	min
✓	200	`jump`	`madnlp`	185.514	41	1831.941575	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	3441.926	117	1831.664623	min
✓	500	`adnlp`	`madnlp`	3819.308	202	1831.664643	min
✓	500	`exa`	`ipopt`	1994.269	141	1831.664623	min
✓	500	`exa`	`madnlp`	688.090	94	1831.664643	min	✓
✓	500	`jump`	`ipopt`	1350.227	53	1831.664623	min
✓	500	`jump`	`madnlp`	1109.327	94	1831.664643	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	14753.068	188	1831.623346	min
✓	1000	`adnlp`	`madnlp`	3553.616	79	1831.623386	min
✓	1000	`exa`	`ipopt`	16018.323	301	1831.623346	min
✓	1000	`exa`	`madnlp`	1811.340	79	1831.623386	min	✓
✓	1000	`jump`	`ipopt`	7777.047	131	1831.623346	min
✓	1000	`jump`	`madnlp`	1957.787	74	1831.623386	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	9.140	4	1228.698880	min
✓	200	`adnlp`	`madnlp`	8.385	4	1228.698880	min
✓	200	`exa`	`ipopt`	4.533	4	1228.698880	min
✓	200	`exa`	`madnlp`	3.556	4	1228.698880	min	✓
✓	200	`jump`	`ipopt`	6.147	4	1228.698880	min
✓	200	`jump`	`madnlp`	7.554	4	1228.698880	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	20.826	4	1228.599284	min
✓	500	`adnlp`	`madnlp`	19.735	4	1228.599284	min
✓	500	`exa`	`ipopt`	9.319	4	1228.599284	min
✓	500	`exa`	`madnlp`	8.058	4	1228.599284	min	✓
✓	500	`jump`	`ipopt`	13.186	4	1228.599284	min
✓	500	`jump`	`madnlp`	18.244	4	1228.599284	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	46.089	4	1228.585040	min
✓	1000	`adnlp`	`madnlp`	42.347	4	1228.585040	min
✓	1000	`exa`	`ipopt`	17.263	4	1228.585040	min
✓	1000	`exa`	`madnlp`	15.059	4	1228.585040	min	✓
✓	1000	`jump`	`ipopt`	25.144	4	1228.585040	min
✓	1000	`jump`	`madnlp`	36.445	4	1228.585040	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	556.702	78	-1248.896363	min
✓	200	`adnlp`	`madnlp`	544.469	83	-1248.896363	min
✓	200	`exa`	`ipopt`	314.886	78	-1248.896363	min
✓	200	`exa`	`madnlp`	308.306	112	-1248.896363	min	✓
✓	200	`jump`	`ipopt`	548.303	78	-1248.896363	min
✓	200	`jump`	`madnlp`	579.993	92	-1248.896363	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	24834.049	40	-1247.978430	min
✓	500	`adnlp`	`madnlp`	3370.297	171	-1247.978430	min
✓	500	`exa`	`ipopt`	23148.596	68	-1247.978430	min
✓	500	`exa`	`madnlp`	1285.104	172	-1247.978430	min	✓
✓	500	`jump`	`ipopt`	28310.238	68	-1247.978430	min
✓	500	`jump`	`madnlp`	3438.241	182	-1247.978430	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✗	1000	`adnlp`	`ipopt`	531483.166	19	-1058.874459	min
✓	1000	`adnlp`	`madnlp`	8057.528	148	-1247.985216	min
✗	1000	`exa`	`ipopt`	539281.105	18	-1058.874458	min
✓	1000	`exa`	`madnlp`	1898.162	124	-1247.985216	min	✓
✗	1000	`jump`	`ipopt`	503776.252	20	-1058.874516	min
✓	1000	`jump`	`madnlp`	4419.617	107	-1247.985216	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	577.631	90	-2.058581	min
✓	200	`adnlp`	`madnlp`	724.552	120	-2.058581	min
✓	200	`exa`	`ipopt`	317.780	91	-2.058581	min	✓
✓	200	`exa`	`madnlp`	333.018	120	-2.058581	min
✓	200	`jump`	`ipopt`	390.900	90	-2.058581	min
✓	200	`jump`	`madnlp`	463.606	120	-2.058581	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	1633.205	96	-2.059214	min
✓	500	`adnlp`	`madnlp`	7337.442	409	-2.059207	min
✓	500	`exa`	`ipopt`	912.445	109	-2.059214	min	✓
✓	500	`exa`	`madnlp`	3116.562	350	-2.059213	min
✓	500	`jump`	`ipopt`	1054.150	100	-2.059214	min
✓	500	`jump`	`madnlp`	3054.991	255	-2.059207	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	5384.866	146	-2.059511	min
✓	1000	`adnlp`	`madnlp`	19527.163	529	-2.059510	min
✓	1000	`exa`	`ipopt`	2616.325	134	-2.059511	min	✓
✓	1000	`exa`	`madnlp`	9259.574	520	-2.059510	min
✓	1000	`jump`	`ipopt`	3435.551	139	-2.059511	min
✓	1000	`jump`	`madnlp`	12816.692	567	-2.059511	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	104.305	42	-0.191861	min
✓	200	`adnlp`	`madnlp`	82.854	40	-0.191861	min
✓	200	`exa`	`ipopt`	77.441	42	-0.191861	min
✓	200	`exa`	`madnlp`	49.873	40	-0.191861	min
✓	200	`jump`	`ipopt`	74.658	42	-0.191861	min
✓	200	`jump`	`madnlp`	46.869	40	-0.191861	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	341.087	58	-0.191822	min
✓	500	`adnlp`	`madnlp`	96.572	22	-0.191822	min
✓	500	`exa`	`ipopt`	249.535	58	-0.191822	min
✓	500	`exa`	`madnlp`	47.524	22	-0.191822	min
✓	500	`jump`	`ipopt`	229.028	58	-0.191822	min
✓	500	`jump`	`madnlp`	45.336	22	-0.191822	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	257.615	21	-0.191816	min
✓	1000	`adnlp`	`madnlp`	211.166	23	-0.191816	min
✓	1000	`exa`	`ipopt`	144.215	21	-0.191816	min
✓	1000	`exa`	`madnlp`	96.910	23	-0.191816	min
✓	1000	`jump`	`ipopt`	133.180	21	-0.191816	min
✓	1000	`jump`	`madnlp`	91.776	23	-0.191816	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	91.568	41	102.397570	min
✗	200	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	200	`exa`	`ipopt`	60.944	41	102.397570	min
✓	200	`exa`	`madnlp`	54.193	49	102.380995	min	✓
✓	200	`jump`	`ipopt`	75.103	41	102.397570	min
✓	200	`jump`	`madnlp`	63.823	49	102.380995	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	320.788	69	102.369940	min
✓	500	`adnlp`	`madnlp`	197.104	51	102.369940	min
✓	500	`exa`	`ipopt`	192.447	67	102.369940	min
✓	500	`exa`	`madnlp`	106.733	51	102.369940	min	✓
✓	500	`jump`	`ipopt`	249.610	69	102.369940	min
✓	500	`jump`	`madnlp`	138.920	51	102.369940	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	694.249	64	102.368164	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	320.634	62	102.368164	min	✓
✓	1000	`exa`	`madnlp`	323.140	74	102.368166	min
✓	1000	`jump`	`ipopt`	472.163	64	102.368164	min
✓	1000	`jump`	`madnlp`	425.486	74	102.368166	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	34.211	19	19.626260	min
✓	200	`adnlp`	`madnlp`	43.183	34	19.626260	min
✓	200	`exa`	`ipopt`	23.217	19	19.626260	min	✓
✓	200	`exa`	`madnlp`	26.402	34	19.626260	min
✓	200	`jump`	`ipopt`	25.389	19	19.626260	min
✓	200	`jump`	`madnlp`	25.708	34	19.626260	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	72.763	18	19.466633	min
✓	500	`adnlp`	`madnlp`	87.679	29	19.466633	min
✓	500	`exa`	`ipopt`	50.436	18	19.466633	min
✓	500	`exa`	`madnlp`	52.935	29	19.466633	min
✓	500	`jump`	`ipopt`	49.400	18	19.466633	min	✓
✓	500	`jump`	`madnlp`	55.233	31	19.466633	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	216.678	27	19.440191	min
✓	1000	`adnlp`	`madnlp`	322.803	50	19.440191	min
✓	1000	`exa`	`ipopt`	138.749	27	19.440191	min
✓	1000	`exa`	`madnlp`	169.978	50	19.440191	min
✓	1000	`jump`	`ipopt`	135.792	27	19.440191	min	✓
✓	1000	`jump`	`madnlp`	165.368	50	19.440191	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	119.856	18	9.141395	min
✓	200	`adnlp`	`madnlp`	98.347	16	9.141397	min
✓	200	`exa`	`ipopt`	63.343	18	9.141395	min
✓	200	`exa`	`madnlp`	49.319	16	9.141397	min	✓
✓	200	`jump`	`ipopt`	84.221	18	9.141395	min
✓	200	`jump`	`madnlp`	67.487	16	9.141397	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	347.597	17	9.140991	min
✓	500	`adnlp`	`madnlp`	449.681	25	9.140992	min
✓	500	`exa`	`ipopt`	158.340	17	9.140991	min	✓
✓	500	`exa`	`madnlp`	195.490	25	9.140992	min
✓	500	`jump`	`ipopt`	216.737	17	9.140991	min
✓	500	`jump`	`madnlp`	278.863	25	9.140992	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	783.148	19	9.140931	min
✓	1000	`adnlp`	`madnlp`	975.331	23	9.140939	min
✓	1000	`exa`	`ipopt`	395.172	19	9.140931	min	✓
✓	1000	`exa`	`madnlp`	479.596	23	9.140939	min
✓	1000	`jump`	`ipopt`	572.037	19	9.140931	min
✓	1000	`jump`	`madnlp`	655.652	23	9.140939	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	70.902	18	-1.012836	min
✓	200	`adnlp`	`madnlp`	72.863	21	-1.012835	min
✓	200	`exa`	`ipopt`	27.650	18	-1.012836	min
✓	200	`exa`	`madnlp`	22.500	21	-1.012835	min	✓
✓	200	`jump`	`ipopt`	38.181	18	-1.012836	min
✓	200	`jump`	`madnlp`	36.717	21	-1.012835	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	217.642	21	-1.012837	min
✓	500	`adnlp`	`madnlp`	182.906	22	-1.012835	min
✓	500	`exa`	`ipopt`	71.947	21	-1.012837	min
✓	500	`exa`	`madnlp`	57.592	22	-1.012835	min	✓
✓	500	`jump`	`ipopt`	100.123	21	-1.012837	min
✓	500	`jump`	`madnlp`	94.513	22	-1.012835	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	553.075	24	-1.012837	min
✓	1000	`adnlp`	`madnlp`	487.694	24	-1.012836	min
✓	1000	`exa`	`ipopt`	165.116	24	-1.012837	min
✓	1000	`exa`	`madnlp`	128.806	24	-1.012836	min	✓
✓	1000	`jump`	`ipopt`	253.402	24	-1.012837	min
✓	1000	`jump`	`madnlp`	223.565	24	-1.012836	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	1450.163	101	-0.595869	min
✓	200	`adnlp`	`madnlp`	2948.760	198	-0.595869	min
✓	200	`exa`	`ipopt`	709.763	101	-0.595869	min	✓
✓	200	`exa`	`madnlp`	937.569	181	-0.595869	min
✓	200	`jump`	`ipopt`	1486.030	111	-0.385378	min
✓	200	`jump`	`madnlp`	1477.031	113	-0.385492	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	4380.688	116	-0.595875	min
✓	500	`adnlp`	`madnlp`	7565.169	166	-0.595875	min
✓	500	`exa`	`ipopt`	1958.590	116	-0.595875	min	✓
✓	500	`exa`	`madnlp`	2186.694	166	-0.595875	min
✓	500	`jump`	`ipopt`	4673.943	115	-0.595875	min
✓	500	`jump`	`madnlp`	2797.245	77	-0.595875	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	13251.052	125	-0.595876	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	6299.557	125	-0.595876	min
✓	1000	`exa`	`madnlp`	3312.353	95	-0.595876	min	✓
✓	1000	`jump`	`ipopt`	6490.800	74	-0.305020	min
✓	1000	`jump`	`madnlp`	81535.113	480	-0.305020	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	27.864	8	0.554577	min
✓	200	`adnlp`	`madnlp`	29.997	11	0.554577	min
✓	200	`exa`	`ipopt`	18.972	8	0.554577	min
✓	200	`exa`	`madnlp`	17.860	11	0.554577	min	✓
✓	200	`jump`	`ipopt`	22.525	8	0.554577	min
✓	200	`jump`	`madnlp`	25.721	11	0.554577	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	75.733	8	0.554572	min
✓	500	`adnlp`	`madnlp`	87.776	13	0.554572	min
✓	500	`exa`	`ipopt`	48.718	8	0.554572	min	✓
✓	500	`exa`	`madnlp`	50.713	13	0.554572	min
✓	500	`jump`	`ipopt`	58.795	8	0.554572	min
✓	500	`jump`	`madnlp`	74.667	13	0.554572	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	187.352	8	0.554571	min
✓	1000	`adnlp`	`madnlp`	211.277	14	0.554571	min
✓	1000	`exa`	`ipopt`	108.805	8	0.554571	min	✓
✓	1000	`exa`	`madnlp`	118.447	14	0.554571	min
✓	1000	`jump`	`ipopt`	157.364	8	0.554571	min
✓	1000	`jump`	`madnlp`	174.865	14	0.554571	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	6.473	3	1.047836	min
✓	200	`adnlp`	`madnlp`	6.244	3	1.047836	min
✓	200	`exa`	`ipopt`	3.714	3	1.047836	min
✓	200	`exa`	`madnlp`	2.824	3	1.047836	min	✓
✓	200	`jump`	`ipopt`	4.750	3	1.047836	min
✓	200	`jump`	`madnlp`	6.220	3	1.047836	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	14.534	3	1.047812	min
✓	500	`adnlp`	`madnlp`	14.006	3	1.047812	min
✓	500	`exa`	`ipopt`	7.519	3	1.047812	min
✓	500	`exa`	`madnlp`	6.359	3	1.047812	min	✓
✓	500	`jump`	`ipopt`	9.941	3	1.047812	min
✓	500	`jump`	`madnlp`	15.347	3	1.047812	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	29.922	3	1.047808	min
✓	1000	`adnlp`	`madnlp`	30.692	3	1.047808	min
✓	1000	`exa`	`ipopt`	14.209	3	1.047808	min
✓	1000	`exa`	`madnlp`	12.293	3	1.047808	min	✓
✓	1000	`jump`	`ipopt`	19.344	3	1.047808	min
✓	1000	`jump`	`madnlp`	30.433	3	1.047808	min

ℹ️ Log

Benchmarks results:

┌─ Problem: balanced_field
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  70.988 ms | iters: 17    | obj: 7.710114e+02  (min) | CPU:  22.70 KiB
│  │  ✓ | adnlp    | time: 104.574 ms | iters: 17    | obj: 7.710114e+02  (min) | CPU:  23.00 MiB
│  │  ✓ | exa      | time:  38.829 ms | iters: 17    | obj: 7.710114e+02  (min) | CPU: 129.11 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 230.327 ms | iters: 20    | obj: 7.710085e+02  (min) | CPU:  26.41 KiB
│  │  ✓ | adnlp    | time: 316.332 ms | iters: 20    | obj: 7.710085e+02  (min) | CPU:  66.32 MiB
│  │  ✓ | exa      | time: 106.130 ms | iters: 20    | obj: 7.710085e+02  (min) | CPU: 242.58 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 620.983 ms | iters: 20    | obj: 7.710080e+02  (min) | CPU:  26.41 KiB
│  │  ✓ | adnlp    | time: 832.642 ms | iters: 20    | obj: 7.710080e+02  (min) | CPU: 132.40 MiB
│  │  ✓ | exa      | time: 218.603 ms | iters: 20    | obj: 7.710080e+02  (min) | CPU: 425.95 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 105.928 ms | iters: 23    | obj: 7.710114e+02  (min) | CPU:  31.45 MiB
│  │  ✓ | adnlp    | time: 135.066 ms | iters: 23    | obj: 7.710114e+02  (min) | CPU:  34.07 MiB
│  │  ✓ | exa      | time:  39.284 ms | iters: 23    | obj: 7.710114e+02  (min) | CPU:   5.62 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 355.430 ms | iters: 25    | obj: 7.710085e+02  (min) | CPU:  82.24 MiB
│  │  ✓ | adnlp    | time: 448.400 ms | iters: 25    | obj: 7.710085e+02  (min) | CPU:  90.93 MiB
│  │  ✓ | exa      | time: 104.908 ms | iters: 25    | obj: 7.710085e+02  (min) | CPU:  14.01 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 747.061 ms | iters: 23    | obj: 7.710080e+02  (min) | CPU: 164.44 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time: 204.525 ms | iters: 23    | obj: 7.710080e+02  (min) | CPU:  26.92 MiB
│  └─
└─

┌─ Problem: beam
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  15.256 ms | iters: 16    | obj: 8.891335e+00  (min) | CPU:  10.16 KiB
│  │  ✓ | adnlp    | time:  19.837 ms | iters: 16    | obj: 8.891335e+00  (min) | CPU:   2.37 MiB
│  │  ✓ | exa      | time:  15.021 ms | iters: 16    | obj: 8.891335e+00  (min) | CPU:  72.55 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  35.691 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:  11.16 KiB
│  │  ✓ | adnlp    | time:  46.942 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   6.47 MiB
│  │  ✓ | exa      | time:  35.009 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU: 137.67 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 105.623 ms | iters: 30    | obj: 8.888987e+00  (min) | CPU:  17.16 KiB
│  │  ✓ | adnlp    | time: 150.207 ms | iters: 33    | obj: 8.888988e+00  (min) | CPU:  22.54 MiB
│  │  ✓ | exa      | time: 113.007 ms | iters: 33    | obj: 8.888987e+00  (min) | CPU: 258.83 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  11.525 ms | iters: 21    | obj: 8.891335e+00  (min) | CPU:   1.95 MiB
│  │  ✓ | adnlp    | time:  17.244 ms | iters: 21    | obj: 8.891335e+00  (min) | CPU:   4.59 MiB
│  │  ✓ | exa      | time:  12.300 ms | iters: 21    | obj: 8.891335e+00  (min) | CPU:   1.76 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  22.487 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   4.13 MiB
│  │  ✓ | adnlp    | time:  34.519 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   9.81 MiB
│  │  ✓ | exa      | time:  23.049 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   3.74 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  64.450 ms | iters: 28    | obj: 8.888987e+00  (min) | CPU:  10.33 MiB
│  │  ✓ | adnlp    | time:  94.578 ms | iters: 26    | obj: 8.888987e+00  (min) | CPU:  26.25 MiB
│  │  ✓ | exa      | time:  67.005 ms | iters: 28    | obj: 8.888987e+00  (min) | CPU:   9.47 MiB
│  └─
└─

┌─ Problem: brachistochrone
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  44.234 ms | iters: 19    | obj: 1.802935e+00  (min) | CPU:  25.17 KiB
│  │  ✓ | adnlp    | time:  64.306 ms | iters: 19    | obj: 1.802935e+00  (min) | CPU:  28.07 MiB
│  │  ✓ | exa      | time:  30.437 ms | iters: 19    | obj: 1.802935e+00  (min) | CPU:  96.05 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 109.194 ms | iters: 18    | obj: 1.802932e+00  (min) | CPU:  24.19 KiB
│  │  ✓ | adnlp    | time: 144.036 ms | iters: 18    | obj: 1.802932e+00  (min) | CPU:  66.85 MiB
│  │  ✓ | exa      | time:  61.043 ms | iters: 18    | obj: 1.802932e+00  (min) | CPU: 182.03 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 243.891 ms | iters: 20    | obj: 1.802932e+00  (min) | CPU:  26.41 KiB
│  │  ✓ | adnlp    | time: 333.437 ms | iters: 20    | obj: 1.802932e+00  (min) | CPU: 146.10 MiB
│  │  ✓ | exa      | time: 136.338 ms | iters: 20    | obj: 1.802932e+00  (min) | CPU: 328.33 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  43.693 ms | iters: 20    | obj: 1.802935e+00  (min) | CPU:  14.31 MiB
│  │  ✓ | adnlp    | time:  59.311 ms | iters: 20    | obj: 1.802935e+00  (min) | CPU:  31.76 MiB
│  │  ✓ | exa      | time:  24.081 ms | iters: 20    | obj: 1.802935e+00  (min) | CPU:   2.88 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 127.776 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  35.95 MiB
│  │  ✓ | adnlp    | time: 155.635 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  82.13 MiB
│  │  ✓ | exa      | time:  59.412 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:   6.87 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 381.493 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  70.50 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(-Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time: 124.542 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  13.50 MiB
│  └─
└─

┌─ Problem: bryson_denham
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  13.057 ms | iters: 13    | obj: 4.000889e+00  (min) | CPU:   8.66 KiB
│  │  ✓ | adnlp    | time:  16.870 ms | iters: 13    | obj: 4.000889e+00  (min) | CPU:   1.97 MiB
│  │  ✓ | exa      | time:  12.465 ms | iters: 13    | obj: 4.000889e+00  (min) | CPU:  69.45 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  31.734 ms | iters: 16    | obj: 4.000143e+00  (min) | CPU:  10.16 KiB
│  │  ✓ | adnlp    | time:  42.080 ms | iters: 16    | obj: 4.000143e+00  (min) | CPU:   5.82 MiB
│  │  ✓ | exa      | time:  30.353 ms | iters: 16    | obj: 4.000143e+00  (min) | CPU: 135.61 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  76.950 ms | iters: 22    | obj: 4.000037e+00  (min) | CPU:  13.16 KiB
│  │  ✓ | adnlp    | time: 110.605 ms | iters: 22    | obj: 4.000037e+00  (min) | CPU:  15.45 MiB
│  │  ✓ | exa      | time:  76.052 ms | iters: 22    | obj: 4.000037e+00  (min) | CPU: 247.48 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   8.599 ms | iters: 15    | obj: 4.000889e+00  (min) | CPU:   1.53 MiB
│  │  ✓ | adnlp    | time:  13.201 ms | iters: 15    | obj: 4.000889e+00  (min) | CPU:   3.39 MiB
│  │  ✓ | exa      | time:   8.898 ms | iters: 15    | obj: 4.000889e+00  (min) | CPU:   1.33 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  21.047 ms | iters: 17    | obj: 4.000144e+00  (min) | CPU:   3.63 MiB
│  │  ✓ | adnlp    | time:  37.997 ms | iters: 19    | obj: 4.000143e+00  (min) | CPU:  10.00 MiB
│  │  ✓ | exa      | time:  23.097 ms | iters: 18    | obj: 4.000143e+00  (min) | CPU:   3.33 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  59.100 ms | iters: 25    | obj: 4.000036e+00  (min) | CPU:   8.64 MiB
│  │  ✓ | adnlp    | time:  89.278 ms | iters: 23    | obj: 4.000036e+00  (min) | CPU:  22.68 MiB
│  │  ✓ | exa      | time:  54.981 ms | iters: 23    | obj: 4.000036e+00  (min) | CPU:   7.35 MiB
│  └─
└─

┌─ Problem: chain
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  14.029 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:  10.36 KiB
│  │  ✓ | adnlp    | time:  15.991 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   4.40 MiB
│  │  ✓ | exa      | time:   9.547 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:  70.12 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  62.463 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  20.50 KiB
│  │  ✓ | adnlp    | time:  71.452 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  20.40 MiB
│  │  ✓ | exa      | time:  41.089 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU: 146.62 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  65.119 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:   9.12 KiB
│  │  ✓ | adnlp    | time:  72.866 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:  19.35 MiB
│  │  ✓ | exa      | time:  39.702 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU: 250.34 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  14.564 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   7.19 MiB
│  │  ✓ | adnlp    | time:  14.180 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   5.53 MiB
│  │  ✓ | exa      | time:   8.006 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   1.43 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  60.679 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  19.22 MiB
│  │  ✓ | adnlp    | time:  63.835 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  23.67 MiB
│  │  ✓ | exa      | time:  35.921 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:   3.98 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  65.547 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:  37.98 MiB
│  │  ✓ | adnlp    | time:  53.376 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:  24.41 MiB
│  │  ✓ | exa      | time:  30.804 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:   6.42 MiB
│  └─
└─

┌─ Problem: dielectrophoretic_particle
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  18.708 ms | iters: 12    | obj: 7.811387e+00  (min) | CPU:  17.03 KiB
│  │  ✓ | adnlp    | time:  28.254 ms | iters: 12    | obj: 7.811387e+00  (min) | CPU:   7.29 MiB
│  │  ✓ | exa      | time:  13.132 ms | iters: 12    | obj: 7.811387e+00  (min) | CPU:  72.77 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  40.707 ms | iters: 13    | obj: 7.811324e+00  (min) | CPU:  17.77 KiB
│  │  ✓ | adnlp    | time:  66.343 ms | iters: 13    | obj: 7.811324e+00  (min) | CPU:  19.13 MiB
│  │  ✓ | exa      | time:  29.800 ms | iters: 13    | obj: 7.811324e+00  (min) | CPU: 136.45 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  83.302 ms | iters: 13    | obj: 7.811314e+00  (min) | CPU:  17.77 KiB
│  │  ✓ | adnlp    | time: 144.393 ms | iters: 13    | obj: 7.811314e+00  (min) | CPU:  38.15 MiB
│  │  ✓ | exa      | time:  58.515 ms | iters: 13    | obj: 7.811314e+00  (min) | CPU: 242.14 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  15.484 ms | iters: 13    | obj: 7.811387e+00  (min) | CPU:   6.83 MiB
│  │  ✓ | adnlp    | time:  25.143 ms | iters: 13    | obj: 7.811387e+00  (min) | CPU:   9.15 MiB
│  │  ✓ | exa      | time:   9.449 ms | iters: 13    | obj: 7.811387e+00  (min) | CPU:   1.95 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  41.507 ms | iters: 15    | obj: 7.811325e+00  (min) | CPU:  16.68 MiB
│  │  ✓ | adnlp    | time:  71.920 ms | iters: 15    | obj: 7.811325e+00  (min) | CPU:  25.28 MiB
│  │  ✓ | exa      | time:  24.364 ms | iters: 15    | obj: 7.811325e+00  (min) | CPU:   4.79 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  95.198 ms | iters: 16    | obj: 7.811315e+00  (min) | CPU:  34.32 MiB
│  │  ✓ | adnlp    | time: 195.427 ms | iters: 16    | obj: 7.811315e+00  (min) | CPU:  53.10 MiB
│  │  ✓ | exa      | time:  52.431 ms | iters: 16    | obj: 7.811315e+00  (min) | CPU:   9.63 MiB
│  └─
└─

┌─ Problem: double_oscillator
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  10.019 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time:  18.251 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   5.19 MiB
│  │  ✓ | exa      | time:  11.104 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU: 102.86 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  21.584 ms | iters: 5     | obj: 9.109230e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time:  42.850 ms | iters: 5     | obj: 9.109230e-04  (min) | CPU:  12.91 MiB
│  │  ✓ | exa      | time:  25.429 ms | iters: 5     | obj: 9.109230e-04  (min) | CPU: 213.23 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  41.223 ms | iters: 5     | obj: 9.110069e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time:  87.945 ms | iters: 5     | obj: 9.110069e-04  (min) | CPU:  25.77 MiB
│  │  ✓ | exa      | time:  49.162 ms | iters: 5     | obj: 9.110069e-04  (min) | CPU: 396.61 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   8.010 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   2.39 MiB
│  │  ✓ | adnlp    | time:  16.799 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   6.78 MiB
│  │  ✓ | exa      | time:   7.976 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   2.71 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  20.183 ms | iters: 6     | obj: 9.109230e-04  (min) | CPU:   5.77 MiB
│  │  ✓ | adnlp    | time:  48.611 ms | iters: 6     | obj: 9.109230e-04  (min) | CPU:  18.77 MiB
│  │  ✓ | exa      | time:  21.648 ms | iters: 6     | obj: 9.109230e-04  (min) | CPU:   6.72 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  39.742 ms | iters: 6     | obj: 9.110069e-04  (min) | CPU:  11.60 MiB
│  │  ✓ | adnlp    | time:  99.527 ms | iters: 6     | obj: 9.110069e-04  (min) | CPU:  37.36 MiB
│  │  ✓ | exa      | time:  43.155 ms | iters: 6     | obj: 9.110069e-04  (min) | CPU:  13.26 MiB
│  └─
└─

┌─ Problem: ducted_fan
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 703.211 ms | iters: 92    | obj: 1.831942e+03  (min) | CPU: 121.25 KiB
│  │  ✓ | adnlp    | time: 949.812 ms | iters: 94    | obj: 1.831942e+03  (min) | CPU: 115.43 MiB
│  │  ✓ | exa      | time: 502.165 ms | iters: 92    | obj: 1.831942e+03  (min) | CPU: 254.80 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.350 s  | iters: 53    | obj: 1.831665e+03  (min) | CPU:  69.05 KiB
│  │  ✓ | adnlp    | time:   3.442 s  | iters: 117   | obj: 1.831665e+03  (min) | CPU: 354.63 MiB
│  │  ✓ | exa      | time:   1.994 s  | iters: 141   | obj: 1.831665e+03  (min) | CPU: 483.64 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   7.777 s  | iters: 131   | obj: 1.831623e+03  (min) | CPU: 187.27 KiB
│  │  ✓ | adnlp    | time:  14.753 s  | iters: 188   | obj: 1.831623e+03  (min) | CPU:   1.16 GiB
│  │  ✓ | exa      | time:  16.018 s  | iters: 301   | obj: 1.831623e+03  (min) | CPU: 955.38 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 185.514 ms | iters: 41    | obj: 1.831942e+03  (min) | CPU:  23.30 MiB
│  │  ✓ | adnlp    | time: 271.035 ms | iters: 41    | obj: 1.831942e+03  (min) | CPU:  61.09 MiB
│  │  ✓ | exa      | time: 154.781 ms | iters: 41    | obj: 1.831942e+03  (min) | CPU:   9.51 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.109 s  | iters: 94    | obj: 1.831665e+03  (min) | CPU:  85.70 MiB
│  │  ✓ | adnlp    | time:   3.819 s  | iters: 202   | obj: 1.831665e+03  (min) | CPU: 798.62 MiB
│  │  ✓ | exa      | time: 688.090 ms | iters: 94    | obj: 1.831665e+03  (min) | CPU:  51.82 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   1.958 s  | iters: 74    | obj: 1.831623e+03  (min) | CPU: 133.78 MiB
│  │  ✓ | adnlp    | time:   3.554 s  | iters: 79    | obj: 1.831623e+03  (min) | CPU: 568.06 MiB
│  │  ✓ | exa      | time:   1.811 s  | iters: 79    | obj: 1.831623e+03  (min) | CPU:  71.90 MiB
│  └─
└─

┌─ Problem: electric_vehicle
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   6.147 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:   9.140 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   2.71 MiB
│  │  ✓ | exa      | time:   4.533 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:  58.38 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  13.186 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:  20.826 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   6.74 MiB
│  │  ✓ | exa      | time:   9.319 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU: 107.44 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  25.144 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:  46.089 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:  13.44 MiB
│  │  ✓ | exa      | time:  17.263 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU: 189.62 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   7.554 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   5.62 MiB
│  │  ✓ | adnlp    | time:   8.385 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   3.53 MiB
│  │  ✓ | exa      | time:   3.556 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   1.33 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  18.244 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:  13.73 MiB
│  │  ✓ | adnlp    | time:  19.735 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   8.66 MiB
│  │  ✓ | exa      | time:   8.058 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   3.14 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  36.445 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:  28.14 MiB
│  │  ✓ | adnlp    | time:  42.347 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:  17.19 MiB
│  │  ✓ | exa      | time:  15.059 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:   6.15 MiB
│  └─
└─

┌─ Problem: glider
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 548.303 ms | iters: 78    | obj: -1.248896e+03 (min) | CPU:  98.25 KiB
│  │  ✓ | adnlp    | time: 556.702 ms | iters: 78    | obj: -1.248896e+03 (min) | CPU:  76.78 MiB
│  │  ✓ | exa      | time: 314.886 ms | iters: 78    | obj: -1.248896e+03 (min) | CPU: 268.72 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  28.310 s  | iters: 68    | obj: -1.247978e+03 (min) | CPU:  88.16 KiB
│  │  ✓ | adnlp    | time:  24.834 s  | iters: 40    | obj: -1.247978e+03 (min) | CPU: 101.34 MiB
│  │  ✓ | exa      | time:  23.149 s  | iters: 68    | obj: -1.247978e+03 (min) | CPU: 370.61 KiB
│  │
│  │  N = 1000
│  │  ✗ | jump     | time: 503.776 s  | iters: 20    | obj: -1.058875e+03 (min) | CPU:  26.41 KiB
│  │  ✗ | adnlp    | time: 531.483 s  | iters: 19    | obj: -1.058874e+03 (min) | CPU:  99.01 MiB
│  │  ✗ | exa      | time: 539.281 s  | iters: 18    | obj: -1.058874e+03 (min) | CPU: 500.39 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 579.993 ms | iters: 92    | obj: -1.248896e+03 (min) | CPU:  56.83 MiB
│  │  ✓ | adnlp    | time: 544.469 ms | iters: 83    | obj: -1.248896e+03 (min) | CPU:  95.23 MiB
│  │  ✓ | exa      | time: 308.306 ms | iters: 112   | obj: -1.248896e+03 (min) | CPU:  14.30 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   3.438 s  | iters: 182   | obj: -1.247978e+03 (min) | CPU: 162.29 MiB
│  │  ✓ | adnlp    | time:   3.370 s  | iters: 171   | obj: -1.247978e+03 (min) | CPU: 472.36 MiB
│  │  ✓ | exa      | time:   1.285 s  | iters: 172   | obj: -1.247978e+03 (min) | CPU:  49.93 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   4.420 s  | iters: 107   | obj: -1.247985e+03 (min) | CPU: 289.82 MiB
│  │  ✓ | adnlp    | time:   8.058 s  | iters: 148   | obj: -1.247985e+03 (min) | CPU: 826.72 MiB
│  │  ✓ | exa      | time:   1.898 s  | iters: 124   | obj: -1.247985e+03 (min) | CPU:  71.83 MiB
│  └─
└─

┌─ Problem: insurance
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 390.900 ms | iters: 90    | obj: -2.058581e+00 (min) | CPU: 118.31 KiB
│  │  ✓ | adnlp    | time: 577.631 ms | iters: 90    | obj: -2.058581e+00 (min) | CPU: 120.75 MiB
│  │  ✓ | exa      | time: 317.780 ms | iters: 91    | obj: -2.058581e+00 (min) | CPU: 246.09 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.054 s  | iters: 100   | obj: -2.059214e+00 (min) | CPU: 125.41 KiB
│  │  ✓ | adnlp    | time:   1.633 s  | iters: 96    | obj: -2.059214e+00 (min) | CPU: 311.99 MiB
│  │  ✓ | exa      | time: 912.445 ms | iters: 109   | obj: -2.059214e+00 (min) | CPU: 441.56 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   3.436 s  | iters: 139   | obj: -2.059511e+00 (min) | CPU: 178.05 KiB
│  │  ✓ | adnlp    | time:   5.385 s  | iters: 146   | obj: -2.059511e+00 (min) | CPU: 946.00 MiB
│  │  ✓ | exa      | time:   2.616 s  | iters: 134   | obj: -2.059511e+00 (min) | CPU: 769.45 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 463.606 ms | iters: 120   | obj: -2.058581e+00 (min) | CPU:  38.18 MiB
│  │  ✓ | adnlp    | time: 724.552 ms | iters: 120   | obj: -2.058581e+00 (min) | CPU: 200.33 MiB
│  │  ✓ | exa      | time: 333.018 ms | iters: 120   | obj: -2.058581e+00 (min) | CPU:  26.32 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   3.055 s  | iters: 255   | obj: -2.059207e+00 (min) | CPU: 145.36 MiB
│  │  ✓ | adnlp    | time:   7.337 s  | iters: 409   | obj: -2.059207e+00 (min) | CPU:   1.52 GiB
│  │  ✓ | exa      | time:   3.117 s  | iters: 350   | obj: -2.059213e+00 (min) | CPU: 156.35 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  12.817 s  | iters: 567   | obj: -2.059511e+00 (min) | CPU: 535.27 MiB
│  │  ✓ | adnlp    | time:  19.527 s  | iters: 529   | obj: -2.059510e+00 (min) | CPU:   3.76 GiB
│  │  ✓ | exa      | time:   9.260 s  | iters: 520   | obj: -2.059510e+00 (min) | CPU: 435.18 MiB
│  └─
└─

┌─ Problem: jackson
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  74.658 ms | iters: 42    | obj: -1.918613e-01 (min) | CPU:  55.06 KiB
│  │  ✓ | adnlp    | time: 104.305 ms | iters: 42    | obj: -1.918613e-01 (min) | CPU:  10.80 MiB
│  │  ✓ | exa      | time:  77.441 ms | iters: 42    | obj: -1.918613e-01 (min) | CPU: 124.73 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 229.028 ms | iters: 58    | obj: -1.918219e-01 (min) | CPU:  73.81 KiB
│  │  ✓ | adnlp    | time: 341.087 ms | iters: 58    | obj: -1.918219e-01 (min) | CPU:  36.18 MiB
│  │  ✓ | exa      | time: 249.535 ms | iters: 58    | obj: -1.918219e-01 (min) | CPU: 227.05 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 133.180 ms | iters: 21    | obj: -1.918162e-01 (min) | CPU:  27.64 KiB
│  │  ✓ | adnlp    | time: 257.615 ms | iters: 21    | obj: -1.918162e-01 (min) | CPU:  27.46 MiB
│  │  ✓ | exa      | time: 144.215 ms | iters: 21    | obj: -1.918162e-01 (min) | CPU: 333.11 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  46.869 ms | iters: 40    | obj: -1.918610e-01 (min) | CPU:   6.94 MiB
│  │  ✓ | adnlp    | time:  82.854 ms | iters: 40    | obj: -1.918610e-01 (min) | CPU:  15.86 MiB
│  │  ✓ | exa      | time:  49.873 ms | iters: 40    | obj: -1.918610e-01 (min) | CPU:   6.74 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  45.336 ms | iters: 22    | obj: -1.918217e-01 (min) | CPU:  12.71 MiB
│  │  ✓ | adnlp    | time:  96.572 ms | iters: 22    | obj: -1.918217e-01 (min) | CPU:  22.99 MiB
│  │  ✓ | exa      | time:  47.524 ms | iters: 22    | obj: -1.918217e-01 (min) | CPU:  11.28 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  91.776 ms | iters: 23    | obj: -1.918159e-01 (min) | CPU:  25.89 MiB
│  │  ✓ | adnlp    | time: 211.166 ms | iters: 23    | obj: -1.918159e-01 (min) | CPU:  47.41 MiB
│  │  ✓ | exa      | time:  96.910 ms | iters: 23    | obj: -1.918159e-01 (min) | CPU:  22.83 MiB
│  └─
└─

┌─ Problem: mountain_car
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  75.103 ms | iters: 41    | obj: 1.023976e+02  (min) | CPU:  52.33 KiB
│  │  ✓ | adnlp    | time:  91.568 ms | iters: 41    | obj: 1.023976e+02  (min) | CPU:  10.43 MiB
│  │  ✓ | exa      | time:  60.944 ms | iters: 41    | obj: 1.023976e+02  (min) | CPU: 100.95 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 249.610 ms | iters: 69    | obj: 1.023699e+02  (min) | CPU:  89.64 KiB
│  │  ✓ | adnlp    | time: 320.788 ms | iters: 69    | obj: 1.023699e+02  (min) | CPU:  43.15 MiB
│  │  ✓ | exa      | time: 192.447 ms | iters: 67    | obj: 1.023699e+02  (min) | CPU: 193.06 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 472.163 ms | iters: 64    | obj: 1.023682e+02  (min) | CPU:  80.72 KiB
│  │  ✓ | adnlp    | time: 694.249 ms | iters: 64    | obj: 1.023682e+02  (min) | CPU:  78.76 MiB
│  │  ✓ | exa      | time: 320.634 ms | iters: 62    | obj: 1.023682e+02  (min) | CPU: 291.36 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  63.823 ms | iters: 49    | obj: 1.023810e+02  (min) | CPU:   9.76 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:  54.193 ms | iters: 49    | obj: 1.023810e+02  (min) | CPU:   5.51 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 138.920 ms | iters: 51    | obj: 1.023699e+02  (min) | CPU:  23.86 MiB
│  │  ✓ | adnlp    | time: 197.104 ms | iters: 51    | obj: 1.023699e+02  (min) | CPU:  44.17 MiB
│  │  ✓ | exa      | time: 106.733 ms | iters: 51    | obj: 1.023699e+02  (min) | CPU:  13.41 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 425.486 ms | iters: 74    | obj: 1.023682e+02  (min) | CPU:  59.75 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time: 323.140 ms | iters: 74    | obj: 1.023682e+02  (min) | CPU:  37.98 MiB
│  └─
└─

┌─ Problem: robbins
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  25.389 ms | iters: 19    | obj: 1.962626e+01  (min) | CPU:  12.16 KiB
│  │  ✓ | adnlp    | time:  34.211 ms | iters: 19    | obj: 1.962626e+01  (min) | CPU:   3.48 MiB
│  │  ✓ | exa      | time:  23.217 ms | iters: 19    | obj: 1.962626e+01  (min) | CPU:  95.61 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  49.400 ms | iters: 18    | obj: 1.946663e+01  (min) | CPU:  11.16 KiB
│  │  ✓ | adnlp    | time:  72.763 ms | iters: 18    | obj: 1.946663e+01  (min) | CPU:   8.08 MiB
│  │  ✓ | exa      | time:  50.436 ms | iters: 18    | obj: 1.946663e+01  (min) | CPU: 180.98 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 135.792 ms | iters: 27    | obj: 1.944019e+01  (min) | CPU:  15.66 KiB
│  │  ✓ | adnlp    | time: 216.678 ms | iters: 27    | obj: 1.944019e+01  (min) | CPU:  23.33 MiB
│  │  ✓ | exa      | time: 138.749 ms | iters: 27    | obj: 1.944019e+01  (min) | CPU: 334.70 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  25.708 ms | iters: 34    | obj: 1.962626e+01  (min) | CPU:   2.81 MiB
│  │  ✓ | adnlp    | time:  43.183 ms | iters: 34    | obj: 1.962626e+01  (min) | CPU:   8.26 MiB
│  │  ✓ | exa      | time:  26.402 ms | iters: 34    | obj: 1.962626e+01  (min) | CPU:   2.65 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  55.233 ms | iters: 31    | obj: 1.946663e+01  (min) | CPU:   6.14 MiB
│  │  ✓ | adnlp    | time:  87.679 ms | iters: 29    | obj: 1.946663e+01  (min) | CPU:  17.55 MiB
│  │  ✓ | exa      | time:  52.935 ms | iters: 29    | obj: 1.946663e+01  (min) | CPU:   5.67 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 165.368 ms | iters: 50    | obj: 1.944019e+01  (min) | CPU:  16.03 MiB
│  │  ✓ | adnlp    | time: 322.803 ms | iters: 50    | obj: 1.944019e+01  (min) | CPU:  56.11 MiB
│  │  ✓ | exa      | time: 169.978 ms | iters: 50    | obj: 1.944019e+01  (min) | CPU:  15.45 MiB
│  └─
└─

┌─ Problem: robot
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  84.221 ms | iters: 18    | obj: 9.141395e+00  (min) | CPU:  23.94 KiB
│  │  ✓ | adnlp    | time: 119.856 ms | iters: 18    | obj: 9.141395e+00  (min) | CPU:  12.91 MiB
│  │  ✓ | exa      | time:  63.343 ms | iters: 18    | obj: 9.141395e+00  (min) | CPU: 181.27 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 216.737 ms | iters: 17    | obj: 9.140991e+00  (min) | CPU:  22.70 KiB
│  │  ✓ | adnlp    | time: 347.597 ms | iters: 17    | obj: 9.140991e+00  (min) | CPU:  30.39 MiB
│  │  ✓ | exa      | time: 158.340 ms | iters: 17    | obj: 9.140991e+00  (min) | CPU: 369.86 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 572.037 ms | iters: 19    | obj: 9.140931e+00  (min) | CPU:  25.17 KiB
│  │  ✓ | adnlp    | time: 783.148 ms | iters: 19    | obj: 9.140931e+00  (min) | CPU:  67.10 MiB
│  │  ✓ | exa      | time: 395.172 ms | iters: 19    | obj: 9.140931e+00  (min) | CPU: 688.55 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  67.487 ms | iters: 16    | obj: 9.141397e+00  (min) | CPU:  20.27 MiB
│  │  ✓ | adnlp    | time:  98.347 ms | iters: 16    | obj: 9.141397e+00  (min) | CPU:  16.98 MiB
│  │  ✓ | exa      | time:  49.319 ms | iters: 16    | obj: 9.141397e+00  (min) | CPU:   6.61 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 278.863 ms | iters: 25    | obj: 9.140992e+00  (min) | CPU:  54.52 MiB
│  │  ✓ | adnlp    | time: 449.681 ms | iters: 25    | obj: 9.140992e+00  (min) | CPU:  61.04 MiB
│  │  ✓ | exa      | time: 195.490 ms | iters: 25    | obj: 9.140992e+00  (min) | CPU:  20.43 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 655.652 ms | iters: 23    | obj: 9.140939e+00  (min) | CPU: 108.51 MiB
│  │  ✓ | adnlp    | time: 975.331 ms | iters: 23    | obj: 9.140939e+00  (min) | CPU: 114.69 MiB
│  │  ✓ | exa      | time: 479.596 ms | iters: 23    | obj: 9.140939e+00  (min) | CPU:  39.43 MiB
│  └─
└─

┌─ Problem: rocket
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  38.181 ms | iters: 18    | obj: -1.012836e+00 (min) | CPU:  23.94 KiB
│  │  ✓ | adnlp    | time:  70.902 ms | iters: 18    | obj: -1.012836e+00 (min) | CPU:  16.91 MiB
│  │  ✓ | exa      | time:  27.650 ms | iters: 18    | obj: -1.012836e+00 (min) | CPU: 101.02 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 100.123 ms | iters: 21    | obj: -1.012837e+00 (min) | CPU:  27.64 KiB
│  │  ✓ | adnlp    | time: 217.642 ms | iters: 21    | obj: -1.012837e+00 (min) | CPU:  48.36 MiB
│  │  ✓ | exa      | time:  71.947 ms | iters: 21    | obj: -1.012837e+00 (min) | CPU: 190.73 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 253.402 ms | iters: 24    | obj: -1.012837e+00 (min) | CPU:  31.34 KiB
│  │  ✓ | adnlp    | time: 553.075 ms | iters: 24    | obj: -1.012837e+00 (min) | CPU: 109.19 MiB
│  │  ✓ | exa      | time: 165.116 ms | iters: 24    | obj: -1.012837e+00 (min) | CPU: 338.45 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  36.717 ms | iters: 21    | obj: -1.012835e+00 (min) | CPU:  12.96 MiB
│  │  ✓ | adnlp    | time:  72.863 ms | iters: 21    | obj: -1.012835e+00 (min) | CPU:  22.84 MiB
│  │  ✓ | exa      | time:  22.500 ms | iters: 21    | obj: -1.012835e+00 (min) | CPU:   4.41 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  94.513 ms | iters: 22    | obj: -1.012835e+00 (min) | CPU:  32.06 MiB
│  │  ✓ | adnlp    | time: 182.906 ms | iters: 22    | obj: -1.012835e+00 (min) | CPU:  58.83 MiB
│  │  ✓ | exa      | time:  57.592 ms | iters: 22    | obj: -1.012835e+00 (min) | CPU:  10.86 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 223.565 ms | iters: 24    | obj: -1.012836e+00 (min) | CPU:  65.45 MiB
│  │  ✓ | adnlp    | time: 487.694 ms | iters: 24    | obj: -1.012836e+00 (min) | CPU: 126.65 MiB
│  │  ✓ | exa      | time: 128.806 ms | iters: 24    | obj: -1.012836e+00 (min) | CPU:  22.40 MiB
│  └─
└─

┌─ Problem: space_shuttle
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   1.486 s  | iters: 111   | obj: -3.853783e-01 (min) | CPU: 138.98 KiB
│  │  ✓ | adnlp    | time:   1.450 s  | iters: 101   | obj: -5.958694e-01 (min) | CPU: 172.82 MiB
│  │  ✓ | exa      | time: 709.763 ms | iters: 101   | obj: -5.958694e-01 (min) | CPU: 309.17 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   4.674 s  | iters: 115   | obj: -5.958750e-01 (min) | CPU: 143.67 KiB
│  │  ✓ | adnlp    | time:   4.381 s  | iters: 116   | obj: -5.958750e-01 (min) | CPU: 492.38 MiB
│  │  ✓ | exa      | time:   1.959 s  | iters: 116   | obj: -5.958750e-01 (min) | CPU: 498.08 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   6.491 s  | iters: 74    | obj: -3.050197e-01 (min) | CPU:  97.30 KiB
│  │  ✓ | adnlp    | time:  13.251 s  | iters: 125   | obj: -5.958758e-01 (min) | CPU:   1.03 GiB
│  │  ✓ | exa      | time:   6.300 s  | iters: 125   | obj: -5.958758e-01 (min) | CPU: 796.62 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   1.477 s  | iters: 113   | obj: -3.854923e-01 (min) | CPU: 101.75 MiB
│  │  ✓ | adnlp    | time:   2.949 s  | iters: 198   | obj: -5.958694e-01 (min) | CPU: 398.60 MiB
│  │  ✓ | exa      | time: 937.569 ms | iters: 181   | obj: -5.958694e-01 (min) | CPU:  52.66 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   2.797 s  | iters: 77    | obj: -5.958750e-01 (min) | CPU: 230.97 MiB
│  │  ✓ | adnlp    | time:   7.565 s  | iters: 166   | obj: -5.958750e-01 (min) | CPU: 847.91 MiB
│  │  ✓ | exa      | time:   2.187 s  | iters: 166   | obj: -5.958750e-01 (min) | CPU: 123.22 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  81.535 s  | iters: 480   | obj: -3.050197e-01 (min) | CPU:   1.24 GiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:   3.312 s  | iters: 95    | obj: -5.958758e-01 (min) | CPU: 159.66 MiB
│  └─
└─

┌─ Problem: steering
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  22.525 ms | iters: 8     | obj: 5.545770e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time:  27.864 ms | iters: 8     | obj: 5.545770e-01  (min) | CPU:   4.89 MiB
│  │  ✓ | exa      | time:  18.972 ms | iters: 8     | obj: 5.545770e-01  (min) | CPU: 102.95 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  58.795 ms | iters: 8     | obj: 5.545719e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time:  75.733 ms | iters: 8     | obj: 5.545719e-01  (min) | CPU:  12.13 MiB
│  │  ✓ | exa      | time:  48.718 ms | iters: 8     | obj: 5.545719e-01  (min) | CPU: 213.33 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 157.364 ms | iters: 8     | obj: 5.545711e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time: 187.352 ms | iters: 8     | obj: 5.545711e-01  (min) | CPU:  24.19 MiB
│  │  ✓ | exa      | time: 108.805 ms | iters: 8     | obj: 5.545711e-01  (min) | CPU: 396.70 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  25.721 ms | iters: 11    | obj: 5.545770e-01  (min) | CPU:   8.77 MiB
│  │  ✓ | adnlp    | time:  29.997 ms | iters: 11    | obj: 5.545770e-01  (min) | CPU:   8.31 MiB
│  │  ✓ | exa      | time:  17.860 ms | iters: 11    | obj: 5.545770e-01  (min) | CPU:   2.35 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  74.667 ms | iters: 13    | obj: 5.545719e-01  (min) | CPU:  22.17 MiB
│  │  ✓ | adnlp    | time:  87.776 ms | iters: 13    | obj: 5.545719e-01  (min) | CPU:  23.19 MiB
│  │  ✓ | exa      | time:  50.713 ms | iters: 13    | obj: 5.545719e-01  (min) | CPU:   5.89 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 174.865 ms | iters: 14    | obj: 5.545711e-01  (min) | CPU:  45.15 MiB
│  │  ✓ | adnlp    | time: 211.277 ms | iters: 14    | obj: 5.545711e-01  (min) | CPU:  48.89 MiB
│  │  ✓ | exa      | time: 118.447 ms | iters: 14    | obj: 5.545711e-01  (min) | CPU:  11.87 MiB
│  └─
└─

┌─ Problem: vanderpol
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   4.750 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:   6.473 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU: 955.09 KiB
│  │  ✓ | exa      | time:   3.714 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:  53.50 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   9.941 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:  14.534 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   2.30 MiB
│  │  ✓ | exa      | time:   7.519 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU: 102.56 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  19.344 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:  29.922 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   4.58 MiB
│  │  ✓ | exa      | time:  14.209 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU: 184.75 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   6.220 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   5.04 MiB
│  │  ✓ | adnlp    | time:   6.244 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   1.69 MiB
│  │  ✓ | exa      | time:   2.824 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   1.33 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  15.347 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:  12.23 MiB
│  │  ✓ | adnlp    | time:  14.006 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   4.08 MiB
│  │  ✓ | exa      | time:   6.359 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   3.15 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  30.433 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:  24.67 MiB
│  │  ✓ | adnlp    | time:  30.692 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   8.06 MiB
│  │  ✓ | exa      | time:  12.293 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   6.19 MiB
│  └─
└─

Kkt

This benchmark suite evaluates optimal control problems on self-hosted CPU hardware.

⚙️ Configuration

Problems: balanced_field, beam, brachistochrone, bryson_denham, chain, dielectrophoretic_particle, double_oscillator, ducted_fan, electric_vehicle, glider, insurance, jackson, mountain_car, robbins, robot, rocket, space_shuttle, steering, vanderpol
Solvers: ipopt, madnlp
Models: adnlp, exa, jump
Grid sizes: 200, 500, 1000, 2000 discretization points
Discretization: trapeze method
Tolerance: 1.0e-8
Ipopt strategy: adaptive barrier parameter
Limits: 1000 iterations max, 500.0s wall time

🖥️ Environment

📅 Timestamp     : 2026-03-11 01:25:20 UTC
🔧 Julia version : 1.12.4
💻 OS            : Linux
🖥️ Machine       : kkt.mcs.anl.gov

You can download the exact environment used for this benchmark:

📦 Project.toml - Package dependencies
📋 Manifest.toml - Complete dependency tree with versions
📜 Benchmark script - Julia script to run the benchmark

These files allow you to reproduce the benchmark environment and results exactly.

ℹ️ Version info

Julia Version 1.12.4
Commit 01a2eadb047 (2026-01-06 16:56 UTC)
Build Info:
  Official https://julialang.org release
Platform Info:
  OS: Linux (x86_64-linux-gnu)
  CPU: 192 × INTEL(R) XEON(R) PLATINUM 8568Y+
  WORD_SIZE: 64
  LLVM: libLLVM-18.1.7 (ORCJIT, sapphirerapids)
  GC: Built with stock GC
Threads: 1 default, 1 interactive, 1 GC (on 192 virtual cores)
Environment:
  JULIA_CUDSS_LIBRARY_PATH = /software/libcudss/libcudss-linux-x86_64-0.7.1.4_cuda13-archive/lib
  JULIA_LOAD_PATH = @:@v#.#:@stdlib:/software/julia/environments/v1.12
  JULIA_PKG_SERVER_REGISTRY_PREFERENCE = eager
  JULIA_DEPOT_PATH = /storage/mschanen/github-actions/julia_depot
  LD_LIBRARY_PATH = /software/julia/julia_binaries/julia-1.12/lib:/software/mpich-ofi/lib:/software/libcudss/libcudss-linux-x86_64-0.7.1.4_cuda13-archive/lib:/usr/local/cuda/lib

📦 Package status

Project CTBenchmarks v0.3.1
Status `/storage/mschanen/github-actions/actions_runner_ct/_work/CTBenchmarks.jl/CTBenchmarks.jl/Project.toml`
  [6e4b80f9] BenchmarkTools v1.6.3
⌅ [54762871] CTBase v0.16.2
  [052768ef] CUDA v5.10.1
  [a93c6f00] DataFrames v1.8.1
  [ffbed154] DocStringExtensions v0.9.5
  [b6b21f68] Ipopt v1.14.1
  [682c06a0] JSON v1.4.0
  [4076af6c] JuMP v1.30.0
⌅ [d72a61cc] MadNLPGPU v0.7.18
  [3b83494e] MadNLPMumps v0.5.1
  [f4238b75] NLPModelsIpopt v0.11.2
⌅ [5f98b655] OptimalControl v1.1.6
  [59046045] OptimalControlProblems v0.5.0
  [91a5bcdd] Plots v1.41.6
  [10745b16] Statistics v1.11.1
  [bd369af6] Tables v1.12.1
  [ade2ca70] Dates v1.11.0
  [b77e0a4c] InteractiveUtils v1.11.0
  [44cfe95a] Pkg v1.12.1
  [de0858da] Printf v1.11.0
  [6462fe0b] Sockets v1.11.0
Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated`

📚 Complete manifest

Project CTBenchmarks v0.3.1
Status `/storage/mschanen/github-actions/actions_runner_ct/_work/CTBenchmarks.jl/CTBenchmarks.jl/Manifest.toml`
  [54578032] ADNLPModels v0.8.13
  [47edcb42] ADTypes v1.21.0
  [14f7f29c] AMD v0.5.3
  [621f4979] AbstractFFTs v1.5.0
  [79e6a3ab] Adapt v4.5.0
  [66dad0bd] AliasTables v1.1.3
  [a9b6321e] Atomix v1.1.2
  [13072b0f] AxisAlgorithms v1.1.0
  [ab4f0b2a] BFloat16s v0.6.1
  [6e4b80f9] BenchmarkTools v1.6.3
  [d1d4a3ce] BitFlags v0.1.9
  [fa961155] CEnum v0.5.0
⌅ [54762871] CTBase v0.16.2
⌅ [790bbbee] CTDirect v0.17.5-beta
⌃ [1c39547c] CTFlows v0.8.12-beta
⌅ [34c4fa32] CTModels v0.6.10-beta.2
⌅ [32681960] CTParser v0.7.3-beta
  [052768ef] CUDA v5.10.1
  [1af6417a] CUDA_Runtime_Discovery v1.0.0
  [45b445bb] CUDSS v0.6.7
  [d360d2e6] ChainRulesCore v1.26.0
  [523fee87] CodecBzip2 v0.8.5
  [944b1d66] CodecZlib v0.7.8
  [35d6a980] ColorSchemes v3.31.0
  [3da002f7] ColorTypes v0.12.1
  [c3611d14] ColorVectorSpace v0.11.0
  [5ae59095] Colors v0.13.1
  [38540f10] CommonSolve v0.2.6
  [bbf7d656] CommonSubexpressions v0.3.1
  [34da2185] Compat v4.18.1
  [f0e56b4a] ConcurrentUtilities v2.5.1
  [d38c429a] Contour v0.6.3
  [a8cc5b0e] Crayons v4.1.1
  [9a962f9c] DataAPI v1.16.0
  [a93c6f00] DataFrames v1.8.1
  [864edb3b] DataStructures v0.19.3
  [e2d170a0] DataValueInterfaces v1.0.0
  [8bb1440f] DelimitedFiles v1.9.1
  [163ba53b] DiffResults v1.1.0
  [b552c78f] DiffRules v1.15.1
  [ffbed154] DocStringExtensions v0.9.5
⌃ [1037b233] ExaModels v0.9.3
  [460bff9d] ExceptionUnwrapping v0.1.11
  [e2ba6199] ExprTools v0.1.10
  [c87230d0] FFMPEG v0.4.5
  [9aa1b823] FastClosures v0.3.2
  [1a297f60] FillArrays v1.16.0
  [53c48c17] FixedPointNumbers v0.8.5
  [1fa38f19] Format v1.3.7
  [f6369f11] ForwardDiff v1.3.2
  [069b7b12] FunctionWrappers v1.1.3
  [0c68f7d7] GPUArrays v11.4.1
  [46192b85] GPUArraysCore v0.2.0
  [61eb1bfa] GPUCompiler v1.8.2
  [096a3bc2] GPUToolbox v1.0.0
  [28b8d3ca] GR v0.73.24
  [42e2da0e] Grisu v1.0.2
  [34c5aeac] HSL v0.5.2
  [cd3eb016] HTTP v1.11.0
  [076d061b] HashArrayMappedTries v0.2.0
  [842dd82b] InlineStrings v1.4.5
  [a98d9a8b] Interpolations v0.16.2
  [41ab1584] InvertedIndices v1.3.1
  [b6b21f68] Ipopt v1.14.1
  [92d709cd] IrrationalConstants v0.2.6
  [82899510] IteratorInterfaceExtensions v1.0.0
  [1019f520] JLFzf v0.1.11
  [692b3bcd] JLLWrappers v1.7.1
  [682c06a0] JSON v1.4.0
  [4076af6c] JuMP v1.30.0
  [63c18a36] KernelAbstractions v0.9.40
  [40e66cde] LDLFactorizations v0.10.1
  [929cbde3] LLVM v9.4.6
  [8b046642] LLVMLoopInfo v1.0.0
  [b964fa9f] LaTeXStrings v1.4.0
  [23fbe1c1] Latexify v0.16.10
  [5c8ed15e] LinearOperators v2.13.0
  [2ab3a3ac] LogExpFunctions v0.3.29
  [e6f89c97] LoggingExtras v1.2.0
  [33e6dc65] MKL v0.9.1
  [d8e11817] MLStyle v0.4.17
  [1914dd2f] MacroTools v0.5.16
⌅ [2621e9c9] MadNLP v0.8.12
⌅ [d72a61cc] MadNLPGPU v0.7.18
  [3b83494e] MadNLPMumps v0.5.1
  [b8f27783] MathOptInterface v1.49.0
  [739be429] MbedTLS v1.1.10
  [442fdcdd] Measures v0.3.3
  [2679e427] Metis v1.5.0
  [e1d29d7a] Missings v1.2.0
  [d8a4904e] MutableArithmetics v1.6.7
  [a4795742] NLPModels v0.21.11
  [f4238b75] NLPModelsIpopt v0.11.2
  [e01155f1] NLPModelsModifiers v0.7.4
  [5da4648a] NVTX v1.0.3
  [77ba4419] NaNMath v1.1.3
  [6fe1bfb0] OffsetArrays v1.17.0
  [4d8831e6] OpenSSL v1.6.1
⌅ [5f98b655] OptimalControl v1.1.6
  [59046045] OptimalControlProblems v0.5.0
  [bac558e1] OrderedCollections v1.8.1
  [d96e819e] Parameters v0.12.3
  [69de0a69] Parsers v2.8.3
  [ccf2f8ad] PlotThemes v3.3.0
  [995b91a9] PlotUtils v1.4.4
  [91a5bcdd] Plots v1.41.6
  [2dfb63ee] PooledArrays v1.4.3
  [aea7be01] PrecompileTools v1.3.3
  [21216c6a] Preferences v1.5.2
  [08abe8d2] PrettyTables v3.2.3
  [43287f4e] PtrArrays v1.4.0
  [be4d8f0f] Quadmath v0.5.13
  [74087812] Random123 v1.7.1
  [e6cf234a] RandomNumbers v1.6.0
  [c84ed2f1] Ratios v0.4.5
  [3cdcf5f2] RecipesBase v1.3.4
  [01d81517] RecipesPipeline v0.6.12
  [189a3867] Reexport v1.2.2
  [05181044] RelocatableFolders v1.0.1
  [ae029012] Requires v1.3.1
  [37e2e3b7] ReverseDiff v1.16.2
  [7e506255] ScopedValues v1.6.0
  [6c6a2e73] Scratch v1.3.0
  [91c51154] SentinelArrays v1.4.9
  [992d4aef] Showoff v1.0.3
  [777ac1f9] SimpleBufferStream v1.2.0
  [ff4d7338] SolverCore v0.3.10
  [a2af1166] SortingAlgorithms v1.2.2
  [9f842d2f] SparseConnectivityTracer v1.2.1
  [0a514795] SparseMatrixColorings v0.4.24
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  [860ef19b] StableRNGs v1.0.4
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  [10745b16] Statistics v1.11.1
  [82ae8749] StatsAPI v1.8.0
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  [e689c965] Tracy v0.1.6
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  [5c2747f8] URIs v1.6.1
  [3a884ed6] UnPack v1.0.2
  [1cfade01] UnicodeFun v0.4.1
  [013be700] UnsafeAtomics v0.3.0
  [41fe7b60] Unzip v0.2.0
  [efce3f68] WoodburyMatrices v1.1.0
  [ae81ac8f] ASL_jll v0.1.3+0
  [6e34b625] Bzip2_jll v1.0.9+0
  [d1e2174e] CUDA_Compiler_jll v0.4.1+1
  [4ee394cb] CUDA_Driver_jll v13.1.1+0
  [76a88914] CUDA_Runtime_jll v0.20.1+0
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  [2702e6a9] EpollShim_jll v0.0.20230411+1
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  [61579ee1] Ghostscript_jll v9.55.1+0
  [7746bdde] Glib_jll v2.86.3+0
  [3b182d85] Graphite2_jll v1.3.15+0
  [017b0a0e] HSL_jll v4.0.4+0
  [2e76f6c2] HarfBuzz_jll v8.5.1+0
  [e33a78d0] Hwloc_jll v2.13.0+0
  [1d5cc7b8] IntelOpenMP_jll v2025.2.0+0
  [9cc047cb] Ipopt_jll v300.1400.1901+0
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  [9c1d0b0a] JuliaNVTXCallbacks_jll v0.2.1+0
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  [dd4b983a] LZO_jll v2.10.3+0
  [ad6e5548] LibTracyClient_jll v0.13.1+0
⌅ [e9f186c6] Libffi_jll v3.4.7+0
  [7e76a0d4] Libglvnd_jll v1.7.1+1
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  [d00139f3] METIS_jll v5.1.3+0
  [856f044c] MKL_jll v2025.2.0+0
  [d7ed1dd3] MUMPS_seq_jll v500.800.200+0
  [c8ffd9c3] MbedTLS_jll v2.28.1010+0
  [e98f9f5b] NVTX_jll v3.2.2+0
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  [91d4177d] Opus_jll v1.6.1+0
  [36c8627f] Pango_jll v1.57.0+0
⌅ [30392449] Pixman_jll v0.44.2+0
  [c0090381] Qt6Base_jll v6.10.2+1
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⌅ [02c8fc9c] XML2_jll v2.13.9+0
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  [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0
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  [cc61e674] Xorg_libxkbfile_jll v1.2.0+0
  [e920d4aa] Xorg_xcb_util_cursor_jll v0.1.6+0
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  [33bec58e] Xorg_xkeyboard_config_jll v2.44.0+0
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  [2db6ffa8] libevdev_jll v1.13.4+0
  [f638f0a6] libfdk_aac_jll v2.0.4+0
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  [b53b4c65] libpng_jll v1.6.55+0
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  [009596ad] mtdev_jll v1.1.7+0
  [1317d2d5] oneTBB_jll v2022.0.0+1
⌅ [1270edf5] x264_jll v10164.0.1+0
  [dfaa095f] x265_jll v4.1.0+0
  [d8fb68d0] xkbcommon_jll v1.13.0+0
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  [ade2ca70] Dates v1.11.0
  [8ba89e20] Distributed v1.11.0
  [f43a241f] Downloads v1.7.0
  [7b1f6079] FileWatching v1.11.0
  [9fa8497b] Future v1.11.0
  [b77e0a4c] InteractiveUtils v1.11.0
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  [4607b0f0] SuiteSparse
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Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`

📈 Performance Profile CPU Time

Performance Profile Analysis

Dataset overview for core-kkt-cpu:

Problems: 19 unique optimal control problems
Instances: 76
Solver combos: 6

Profile configuration:

Instance definition: (problem, grid_size)
Solver combos definition: (model, solver)
Criterion: CPU time
Successful runs: 437/456 (95.8%)
Successful instances: 76/76 (100.0%)
Unsuccessful instances: none (every instance had at least one successful run)

Robustness (% of instances solved):

(jump, ipopt): 97.4%
(adnlp, ipopt): 97.4%
(exa, ipopt): 97.4%
(jump, madnlp): 97.4%
(adnlp, madnlp): 88.2%
(exa, madnlp): 97.4%

Efficiency (% of instances where fastest):

(jump, ipopt): 6.6%
(adnlp, ipopt): 0.0%
(exa, ipopt): 27.6%
(jump, madnlp): 14.5%
(adnlp, madnlp): 0.0%
(exa, madnlp): 51.3%

Most robust: 5 combinations tied at 97.4%.

Most efficient: (exa, madnlp) was fastest on 51.3% of instances.

📈 Performance Profile CPU Time: two best combos

Performance Profile Analysis

Dataset overview for core-kkt-cpu:

Problems: 19 unique optimal control problems
Instances: 76
Solver combos: 2

Profile configuration:

Instance definition: (problem, grid_size)
Solver combos definition: (model, solver)
Criterion: CPU time
Successful runs: 148/152 (97.4%)
Successful instances: 75/76 (98.7%)
Unsuccessful instances (no solver converged):
- ducted_fan, 2000

Robustness (% of instances solved):

(exa, ipopt): 97.4%
(exa, madnlp): 97.4%

Efficiency (% of instances where fastest):

(exa, ipopt): 34.2%
(exa, madnlp): 64.5%

Most robust: 2 combinations tied at 97.4%.

Most efficient: (exa, madnlp) was fastest on 64.5% of instances.

📈 Performance Profile Iterations

Performance Profile Analysis

Dataset overview for core-kkt-cpu:

Problems: 19 unique optimal control problems
Instances: 76
Solver combos: 6

Profile configuration:

Instance definition: (problem, grid_size)
Solver combos definition: (model, solver)
Criterion: Iterations
Successful runs: 437/456 (95.8%)
Successful instances: 76/76 (100.0%)
Unsuccessful instances: none (every instance had at least one successful run)

Robustness (% of instances solved):

(jump, ipopt): 97.4%
(adnlp, ipopt): 97.4%
(exa, ipopt): 97.4%
(jump, madnlp): 97.4%
(adnlp, madnlp): 88.2%
(exa, madnlp): 97.4%

Efficiency (% of instances where fastest):

(jump, ipopt): 75.0%
(adnlp, ipopt): 75.0%
(exa, ipopt): 75.0%
(jump, madnlp): 34.2%
(adnlp, madnlp): 28.9%
(exa, madnlp): 32.9%

Most robust: 5 combinations tied at 97.4%.

Most efficient: 3 combinations tied at 75.0%.

📊 Tables of Results

Problem:

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	74.182	17	771.011400	min
✓	200	`adnlp`	`madnlp`	93.739	23	771.011400	min
✓	200	`exa`	`ipopt`	25.513	17	771.011400	min
✓	200	`exa`	`madnlp`	25.381	23	771.011400	min	✓
✓	200	`jump`	`ipopt`	51.475	17	771.011400	min
✓	200	`jump`	`madnlp`	67.503	23	771.011400	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	211.184	20	771.008497	min
✗	500	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	500	`exa`	`ipopt`	69.127	20	771.008497	min
✓	500	`exa`	`madnlp`	67.841	25	771.008498	min	✓
✓	500	`jump`	`ipopt`	148.568	20	771.008497	min
✓	500	`jump`	`madnlp`	181.815	25	771.008498	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	451.807	20	771.008007	min
✓	1000	`adnlp`	`madnlp`	510.589	23	771.008010	min
✓	1000	`exa`	`ipopt`	315.920	20	771.008007	min
✓	1000	`exa`	`madnlp`	132.933	23	771.008010	min	✓
✓	1000	`jump`	`ipopt`	318.731	20	771.008007	min
✓	1000	`jump`	`madnlp`	349.429	23	771.008010	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	1324.791	26	771.007873	min
✓	2000	`adnlp`	`madnlp`	1178.116	24	771.007877	min
✓	2000	`exa`	`ipopt`	1256.787	26	771.007873	min
✓	2000	`exa`	`madnlp`	386.271	24	771.007877	min	✓
✓	2000	`jump`	`ipopt`	1263.858	26	771.007873	min
✓	2000	`jump`	`madnlp`	756.205	24	771.007877	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	13.707	16	8.891335	min
✓	200	`adnlp`	`madnlp`	12.842	21	8.891335	min
✓	200	`exa`	`ipopt`	9.045	16	8.891335	min
✓	200	`exa`	`madnlp`	7.275	21	8.891335	min
✓	200	`jump`	`ipopt`	9.195	16	8.891335	min
✓	200	`jump`	`madnlp`	7.116	21	8.891335	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	32.804	18	8.889282	min
✓	500	`adnlp`	`madnlp`	24.390	18	8.889282	min
✓	500	`exa`	`ipopt`	21.565	18	8.889282	min
✓	500	`exa`	`madnlp`	14.885	18	8.889282	min
✓	500	`jump`	`ipopt`	23.103	18	8.889282	min
✓	500	`jump`	`madnlp`	14.750	18	8.889282	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	109.221	33	8.888988	min
✓	1000	`adnlp`	`madnlp`	68.502	28	8.888987	min
✓	1000	`exa`	`ipopt`	73.810	35	8.888987	min
✓	1000	`exa`	`madnlp`	40.908	26	8.888987	min
✓	1000	`jump`	`ipopt`	69.920	30	8.888987	min
✓	1000	`jump`	`madnlp`	39.725	26	8.888987	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	229.854	34	8.888913	min
✓	2000	`adnlp`	`madnlp`	215.767	40	8.888914	min
✓	2000	`exa`	`ipopt`	121.678	28	8.888915	min	✓
✓	2000	`exa`	`madnlp`	144.782	37	8.888914	min
✓	2000	`jump`	`ipopt`	143.263	32	8.888914	min
✓	2000	`jump`	`madnlp`	137.773	38	8.888914	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	44.755	19	1.802935	min
✗	200	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	200	`exa`	`ipopt`	18.415	19	1.802935	min
✓	200	`exa`	`madnlp`	14.989	20	1.802935	min	✓
✓	200	`jump`	`ipopt`	30.637	19	1.802935	min
✓	200	`jump`	`madnlp`	30.706	20	1.802935	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	94.310	18	1.802932	min
✓	500	`adnlp`	`madnlp`	105.849	21	1.802932	min
✓	500	`exa`	`ipopt`	38.303	18	1.802932	min
✓	500	`exa`	`madnlp`	37.887	21	1.802932	min	✓
✓	500	`jump`	`ipopt`	68.400	18	1.802932	min
✓	500	`jump`	`madnlp`	79.136	21	1.802932	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	217.536	20	1.802932	min
✓	1000	`adnlp`	`madnlp`	228.037	21	1.802932	min
✓	1000	`exa`	`ipopt`	85.555	20	1.802932	min
✓	1000	`exa`	`madnlp`	79.781	21	1.802932	min	✓
✓	1000	`jump`	`ipopt`	144.564	20	1.802932	min
✓	1000	`jump`	`madnlp`	163.846	21	1.802932	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	465.061	19	1.802932	min
✓	2000	`adnlp`	`madnlp`	570.658	23	1.802932	min
✓	2000	`exa`	`ipopt`	211.270	19	1.802932	min	✓
✓	2000	`exa`	`madnlp`	215.244	23	1.802932	min
✓	2000	`jump`	`ipopt`	309.109	19	1.802932	min
✓	2000	`jump`	`madnlp`	381.650	23	1.802932	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	11.850	13	4.000889	min
✓	200	`adnlp`	`madnlp`	9.225	15	4.000889	min
✓	200	`exa`	`ipopt`	7.444	13	4.000889	min
✓	200	`exa`	`madnlp`	5.287	15	4.000889	min
✓	200	`jump`	`ipopt`	7.769	13	4.000889	min
✓	200	`jump`	`madnlp`	5.170	15	4.000889	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	28.445	16	4.000143	min
✓	500	`adnlp`	`madnlp`	26.453	19	4.000143	min
✓	500	`exa`	`ipopt`	18.795	16	4.000143	min
✓	500	`exa`	`madnlp`	14.685	18	4.000143	min	✓
✓	500	`jump`	`ipopt`	20.597	16	4.000143	min
✓	500	`jump`	`madnlp`	15.199	19	4.000143	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	70.497	22	4.000037	min
✓	1000	`adnlp`	`madnlp`	61.337	23	4.000036	min
✓	1000	`exa`	`ipopt`	47.104	22	4.000037	min
✓	1000	`exa`	`madnlp`	37.817	24	4.000036	min
✓	1000	`jump`	`ipopt`	50.486	22	4.000037	min
✓	1000	`jump`	`madnlp`	36.474	24	4.000036	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	150.719	23	4.000009	min
✓	2000	`adnlp`	`madnlp`	224.070	37	4.000009	min
✓	2000	`exa`	`ipopt`	106.645	25	4.000009	min	✓
✓	2000	`exa`	`madnlp`	144.869	37	4.000009	min
✓	2000	`jump`	`ipopt`	115.379	26	4.000009	min
✓	2000	`jump`	`madnlp`	140.386	38	4.000009	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	11.434	7	5.068917	min
✓	200	`adnlp`	`madnlp`	9.321	7	5.068917	min
✓	200	`exa`	`ipopt`	6.041	7	5.068917	min
✓	200	`exa`	`madnlp`	5.000	7	5.068917	min	✓
✓	200	`jump`	`ipopt`	9.516	7	5.068917	min
✓	200	`jump`	`madnlp`	10.144	7	5.068917	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	48.435	14	5.068578	min
✓	500	`adnlp`	`madnlp`	42.241	14	5.068578	min
✓	500	`exa`	`ipopt`	25.619	14	5.068578	min
✓	500	`exa`	`madnlp`	22.361	14	5.068578	min	✓
✓	500	`jump`	`ipopt`	42.796	14	5.068578	min
✓	500	`jump`	`madnlp`	41.671	14	5.068578	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	45.606	6	5.068510	min
✓	1000	`adnlp`	`madnlp`	39.377	6	5.068510	min
✓	1000	`exa`	`ipopt`	25.631	6	5.068510	min
✓	1000	`exa`	`madnlp`	19.991	6	5.068510	min	✓
✓	1000	`jump`	`ipopt`	39.793	6	5.068510	min
✓	1000	`jump`	`madnlp`	43.111	6	5.068510	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	91.481	6	5.068489	min
✓	2000	`adnlp`	`madnlp`	113.361	6	5.068489	min
✓	2000	`exa`	`ipopt`	57.481	6	5.068489	min	✓
✓	2000	`exa`	`madnlp`	80.068	6	5.068489	min
✓	2000	`jump`	`ipopt`	84.069	6	5.068489	min
✓	2000	`jump`	`madnlp`	119.468	6	5.068489	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	21.628	12	7.811387	min
✓	200	`adnlp`	`madnlp`	17.230	13	7.811387	min
✓	200	`exa`	`ipopt`	7.997	12	7.811387	min
✓	200	`exa`	`madnlp`	5.843	13	7.811387	min	✓
✓	200	`jump`	`ipopt`	12.591	12	7.811387	min
✓	200	`jump`	`madnlp`	10.987	13	7.811387	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	46.891	13	7.811324	min
✓	500	`adnlp`	`madnlp`	47.718	15	7.811325	min
✓	500	`exa`	`ipopt`	18.718	13	7.811324	min
✓	500	`exa`	`madnlp`	16.000	15	7.811325	min	✓
✓	500	`jump`	`ipopt`	28.762	13	7.811324	min
✓	500	`jump`	`madnlp`	29.175	15	7.811325	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	96.787	13	7.811314	min
✓	1000	`adnlp`	`madnlp`	100.939	16	7.811315	min
✓	1000	`exa`	`ipopt`	37.053	13	7.811314	min
✓	1000	`exa`	`madnlp`	34.960	16	7.811315	min	✓
✓	1000	`jump`	`ipopt`	54.146	13	7.811314	min
✓	1000	`jump`	`madnlp`	61.956	16	7.811315	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	214.448	13	7.811312	min
✓	2000	`adnlp`	`madnlp`	239.519	17	7.811313	min
✓	2000	`exa`	`ipopt`	93.755	13	7.811312	min	✓
✓	2000	`exa`	`madnlp`	98.426	17	7.811313	min
✓	2000	`jump`	`ipopt`	121.234	13	7.811312	min
✓	2000	`jump`	`madnlp`	150.618	17	7.811313	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	12.818	5	0.000910	min
✓	200	`adnlp`	`madnlp`	11.718	5	0.000910	min
✓	200	`exa`	`ipopt`	7.345	5	0.000910	min
✓	200	`exa`	`madnlp`	5.263	5	0.000910	min
✓	200	`jump`	`ipopt`	6.551	5	0.000910	min
✓	200	`jump`	`madnlp`	4.966	5	0.000910	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	29.456	5	0.000911	min
✓	500	`adnlp`	`madnlp`	33.058	6	0.000911	min
✓	500	`exa`	`ipopt`	16.475	5	0.000911	min
✓	500	`exa`	`madnlp`	14.544	6	0.000911	min
✓	500	`jump`	`ipopt`	13.898	5	0.000911	min
✓	500	`jump`	`madnlp`	13.258	6	0.000911	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	56.813	5	0.000911	min
✓	1000	`adnlp`	`madnlp`	64.119	6	0.000911	min
✓	1000	`exa`	`ipopt`	31.936	5	0.000911	min
✓	1000	`exa`	`madnlp`	28.400	6	0.000911	min
✓	1000	`jump`	`ipopt`	26.472	5	0.000911	min
✓	1000	`jump`	`madnlp`	25.909	6	0.000911	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	115.637	5	0.000911	min
✓	2000	`adnlp`	`madnlp`	169.348	6	0.000911	min
✓	2000	`exa`	`ipopt`	62.855	5	0.000911	min
✓	2000	`exa`	`madnlp`	136.648	6	0.000911	min
✓	2000	`jump`	`ipopt`	50.665	5	0.000911	min	✓
✓	2000	`jump`	`madnlp`	94.339	6	0.000911	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	612.395	96	1831.941573	min
✓	200	`adnlp`	`madnlp`	188.282	41	1831.941575	min
✓	200	`exa`	`ipopt`	344.597	98	1831.941573	min
✓	200	`exa`	`madnlp`	96.165	41	1831.941575	min	✓
✓	200	`jump`	`ipopt`	578.442	115	1831.941573	min
✓	200	`jump`	`madnlp`	123.499	41	1831.941575	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	2275.742	124	1831.664623	min
✓	500	`adnlp`	`madnlp`	1664.352	157	1831.664643	min
✓	500	`exa`	`ipopt`	1063.562	124	1831.664623	min
✓	500	`exa`	`madnlp`	430.957	94	1831.664643	min	✓
✓	500	`jump`	`ipopt`	1321.146	84	1831.664623	min
✓	500	`jump`	`madnlp`	683.232	94	1831.664643	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	25835.361	553	1831.623365	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	15838.039	426	1831.623379	min
✓	1000	`exa`	`madnlp`	1150.041	73	1831.623386	min	✓
✓	1000	`jump`	`ipopt`	3784.737	111	1831.623346	min
✓	1000	`jump`	`madnlp`	1398.375	82	1831.623360	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✗	2000	`adnlp`	`ipopt`	93489.135	1000	1831.745917	min
✗	2000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✗	2000	`exa`	`ipopt`	83528.518	1000	1832.223860	min
✗	2000	`exa`	`madnlp`	1811.314	66	137.485958	min
✓	2000	`jump`	`ipopt`	30506.217	372	1831.612742	min	✓
✗	2000	`jump`	`madnlp`	1753.800	52	124.262855	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	7.073	4	1228.698880	min
✓	200	`adnlp`	`madnlp`	6.137	4	1228.698880	min
✓	200	`exa`	`ipopt`	3.044	4	1228.698880	min
✓	200	`exa`	`madnlp`	2.202	4	1228.698880	min	✓
✓	200	`jump`	`ipopt`	4.330	4	1228.698880	min
✓	200	`jump`	`madnlp`	5.672	4	1228.698880	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	17.454	4	1228.599284	min
✓	500	`adnlp`	`madnlp`	15.888	4	1228.599284	min
✓	500	`exa`	`ipopt`	6.285	4	1228.599284	min
✓	500	`exa`	`madnlp`	5.238	4	1228.599284	min	✓
✓	500	`jump`	`ipopt`	9.532	4	1228.599284	min
✓	500	`jump`	`madnlp`	13.530	4	1228.599284	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	33.019	4	1228.585040	min
✓	1000	`adnlp`	`madnlp`	31.046	4	1228.585040	min
✓	1000	`exa`	`ipopt`	11.675	4	1228.585040	min
✓	1000	`exa`	`madnlp`	10.046	4	1228.585040	min	✓
✓	1000	`jump`	`ipopt`	18.265	4	1228.585040	min
✓	1000	`jump`	`madnlp`	26.084	4	1228.585040	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	64.253	4	1228.581478	min
✓	2000	`adnlp`	`madnlp`	80.502	4	1228.581478	min
✓	2000	`exa`	`ipopt`	22.407	4	1228.581478	min	✓
✓	2000	`exa`	`madnlp`	39.775	4	1228.581478	min
✓	2000	`jump`	`ipopt`	34.849	4	1228.581478	min
✓	2000	`jump`	`madnlp`	68.801	4	1228.581478	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	426.605	78	-1248.896363	min
✓	200	`adnlp`	`madnlp`	463.597	83	-1248.896363	min
✓	200	`exa`	`ipopt`	228.191	78	-1248.896363	min
✓	200	`exa`	`madnlp`	169.078	86	-1248.896363	min	✓
✓	200	`jump`	`ipopt`	350.470	78	-1248.896363	min
✓	200	`jump`	`madnlp`	414.842	106	-1248.896363	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	28402.359	68	-1247.978430	min
✓	500	`adnlp`	`madnlp`	2356.821	210	-1247.978430	min
✓	500	`exa`	`ipopt`	22930.735	68	-1247.978430	min
✓	500	`exa`	`madnlp`	961.809	194	-1247.978430	min	✓
✓	500	`jump`	`ipopt`	28095.638	68	-1247.978430	min
✓	500	`jump`	`madnlp`	1708.033	175	-1247.978430	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✗	1000	`adnlp`	`ipopt`	523805.908	21	-1058.884633	min
✓	1000	`adnlp`	`madnlp`	2458.365	102	-1247.985216	min
✗	1000	`exa`	`ipopt`	510327.118	20	-1058.874515	min
✓	1000	`exa`	`madnlp`	1457.279	150	-1247.985216	min	✓
✗	1000	`jump`	`ipopt`	521644.819	21	-1058.884492	min
✓	1000	`jump`	`madnlp`	1934.478	97	-1247.985216	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	1812.606	38	-1247.986999	min
✓	2000	`adnlp`	`madnlp`	7446.530	139	-1247.986999	min
✓	2000	`exa`	`ipopt`	966.748	38	-1247.986999	min	✓
✓	2000	`exa`	`madnlp`	2123.268	86	-1247.986999	min
✓	2000	`jump`	`ipopt`	1561.602	38	-1247.986999	min
✓	2000	`jump`	`madnlp`	2742.309	58	-1247.986999	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	436.605	90	-2.058581	min
✓	200	`adnlp`	`madnlp`	485.208	120	-2.058581	min
✓	200	`exa`	`ipopt`	199.002	90	-2.058581	min	✓
✓	200	`exa`	`madnlp`	208.163	120	-2.058581	min
✓	200	`jump`	`ipopt`	270.431	91	-2.058581	min
✓	200	`jump`	`madnlp`	313.166	120	-2.058581	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	953.037	87	-2.059208	min
✓	500	`adnlp`	`madnlp`	4107.686	363	-2.059213	min
✓	500	`exa`	`ipopt`	514.562	97	-2.059214	min	✓
✓	500	`exa`	`madnlp`	1474.933	264	-2.059213	min
✓	500	`jump`	`ipopt`	717.724	101	-2.059214	min
✓	500	`jump`	`madnlp`	1857.199	254	-2.059213	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	3281.688	140	-2.059511	min
✓	1000	`adnlp`	`madnlp`	15193.413	635	-2.059510	min
✓	1000	`exa`	`ipopt`	1932.368	149	-2.059511	min
✓	1000	`exa`	`madnlp`	7993.281	646	-2.059510	min
✓	1000	`jump`	`ipopt`	1627.542	119	-2.059511	min	✓
✓	1000	`jump`	`madnlp`	6228.996	494	-2.059510	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	9624.086	193	-2.059700	min
✓	2000	`adnlp`	`madnlp`	8748.432	171	-2.059697	min
✓	2000	`exa`	`ipopt`	5241.949	223	-2.059700	min
✓	2000	`exa`	`madnlp`	4591.903	171	-2.059697	min	✓
✓	2000	`jump`	`ipopt`	5673.627	216	-2.059700	min
✓	2000	`jump`	`madnlp`	4700.918	171	-2.059697	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	70.266	42	-0.191861	min
✓	200	`adnlp`	`madnlp`	58.243	40	-0.191861	min
✓	200	`exa`	`ipopt`	49.014	42	-0.191861	min
✓	200	`exa`	`madnlp`	30.020	40	-0.191861	min
✓	200	`jump`	`ipopt`	47.707	42	-0.191861	min
✓	200	`jump`	`madnlp`	28.792	40	-0.191861	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	245.760	58	-0.191822	min
✓	500	`adnlp`	`madnlp`	69.667	22	-0.191822	min
✓	500	`exa`	`ipopt`	157.634	58	-0.191822	min
✓	500	`exa`	`madnlp`	31.027	22	-0.191822	min	✓
✓	500	`jump`	`ipopt`	147.754	58	-0.191822	min
✓	500	`jump`	`madnlp`	31.314	22	-0.191822	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	159.305	21	-0.191816	min
✓	1000	`adnlp`	`madnlp`	139.426	23	-0.191816	min
✓	1000	`exa`	`ipopt`	90.671	21	-0.191816	min
✓	1000	`exa`	`madnlp`	63.358	23	-0.191816	min
✓	1000	`jump`	`ipopt`	88.192	21	-0.191816	min
✓	1000	`jump`	`madnlp`	62.844	23	-0.191816	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	294.715	19	-0.191815	min
✓	2000	`adnlp`	`madnlp`	330.711	23	-0.191814	min
✓	2000	`exa`	`ipopt`	153.214	19	-0.191815	min
✓	2000	`exa`	`madnlp`	180.301	23	-0.191814	min
✓	2000	`jump`	`ipopt`	144.711	19	-0.191815	min	✓
✓	2000	`jump`	`madnlp`	160.354	23	-0.191814	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	63.829	41	102.397570	min
✓	200	`adnlp`	`madnlp`	64.030	49	102.380995	min
✓	200	`exa`	`ipopt`	37.657	41	102.397570	min
✓	200	`exa`	`madnlp`	31.210	49	102.380995	min	✓
✓	200	`jump`	`ipopt`	48.042	41	102.397570	min
✓	200	`jump`	`madnlp`	41.682	49	102.380995	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	233.596	69	102.369940	min
✗	500	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	500	`exa`	`ipopt`	129.106	68	102.369940	min
✓	500	`exa`	`madnlp`	66.295	51	102.369940	min	✓
✓	500	`jump`	`ipopt`	168.079	68	102.369940	min
✓	500	`jump`	`madnlp`	94.376	51	102.369940	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	421.401	64	102.368164	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	206.601	62	102.368164	min
✓	1000	`exa`	`madnlp`	200.854	74	102.368166	min	✓
✓	1000	`jump`	`ipopt`	294.113	64	102.368164	min
✓	1000	`jump`	`madnlp`	293.286	74	102.368166	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	1225.482	83	102.367708	min
✗	2000	`adnlp`	`madnlp`	12762.654	1000	103.059630	min
✓	2000	`exa`	`ipopt`	663.393	82	102.367747	min	✓
✗	2000	`exa`	`madnlp`	6954.117	1000	114.545873	min
✓	2000	`jump`	`ipopt`	902.533	82	102.367747	min
✓	2000	`jump`	`madnlp`	9707.628	974	102.367752	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	24.047	19	19.626260	min
✓	200	`adnlp`	`madnlp`	31.795	34	19.626260	min
✓	200	`exa`	`ipopt`	14.088	19	19.626260	min	✓
✓	200	`exa`	`madnlp`	15.838	34	19.626260	min
✓	200	`jump`	`ipopt`	14.891	19	19.626260	min
✓	200	`jump`	`madnlp`	15.586	34	19.626260	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	55.188	18	19.466633	min
✓	500	`adnlp`	`madnlp`	68.920	31	19.466633	min
✓	500	`exa`	`ipopt`	31.745	18	19.466633	min	✓
✓	500	`exa`	`madnlp`	33.499	29	19.466633	min
✓	500	`jump`	`ipopt`	32.547	18	19.466633	min
✓	500	`jump`	`madnlp`	33.164	29	19.466633	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	147.388	27	19.440191	min
✓	1000	`adnlp`	`madnlp`	217.732	50	19.440191	min
✓	1000	`exa`	`ipopt`	88.906	27	19.440191	min	✓
✓	1000	`exa`	`madnlp`	109.552	50	19.440191	min
✓	1000	`jump`	`ipopt`	89.172	27	19.440191	min
✓	1000	`jump`	`madnlp`	108.136	50	19.440191	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	322.854	30	19.433915	min
✓	2000	`adnlp`	`madnlp`	444.274	44	19.433916	min
✓	2000	`exa`	`ipopt`	206.006	30	19.433915	min
✓	2000	`exa`	`madnlp`	265.859	43	19.433916	min
✓	2000	`jump`	`ipopt`	198.687	30	19.433915	min	✓
✓	2000	`jump`	`madnlp`	239.620	43	19.433916	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	90.254	18	9.141395	min
✓	200	`adnlp`	`madnlp`	73.858	16	9.141397	min
✓	200	`exa`	`ipopt`	42.862	18	9.141395	min
✓	200	`exa`	`madnlp`	32.411	16	9.141397	min	✓
✓	200	`jump`	`ipopt`	60.660	18	9.141395	min
✓	200	`jump`	`madnlp`	49.179	16	9.141397	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	248.662	17	9.140991	min
✓	500	`adnlp`	`madnlp`	307.383	25	9.140992	min
✓	500	`exa`	`ipopt`	105.350	17	9.140991	min	✓
✓	500	`exa`	`madnlp`	126.383	25	9.140992	min
✓	500	`jump`	`ipopt`	146.841	17	9.140991	min
✓	500	`jump`	`madnlp`	181.836	25	9.140992	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	537.366	19	9.140931	min
✓	1000	`adnlp`	`madnlp`	554.552	23	9.140939	min
✓	1000	`exa`	`ipopt`	286.265	19	9.140931	min	✓
✓	1000	`exa`	`madnlp`	347.159	23	9.140939	min
✓	1000	`jump`	`ipopt`	328.863	19	9.140931	min
✓	1000	`jump`	`madnlp`	397.667	23	9.140939	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	1140.930	21	9.140917	min
✓	2000	`adnlp`	`madnlp`	1507.531	30	9.140922	min
✓	2000	`exa`	`ipopt`	651.360	21	9.140917	min	✓
✓	2000	`exa`	`madnlp`	919.122	30	9.140922	min
✓	2000	`jump`	`ipopt`	745.333	21	9.140917	min
✓	2000	`jump`	`madnlp`	1007.164	30	9.140922	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	56.519	18	-1.012836	min
✓	200	`adnlp`	`madnlp`	53.576	21	-1.012835	min
✓	200	`exa`	`ipopt`	17.898	18	-1.012836	min
✓	200	`exa`	`madnlp`	14.650	21	-1.012835	min	✓
✓	200	`jump`	`ipopt`	26.460	18	-1.012836	min
✓	200	`jump`	`madnlp`	26.676	21	-1.012835	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	156.945	21	-1.012837	min
✓	500	`adnlp`	`madnlp`	169.798	22	-1.012835	min
✓	500	`exa`	`ipopt`	48.284	21	-1.012837	min
✓	500	`exa`	`madnlp`	38.202	22	-1.012835	min	✓
✓	500	`jump`	`ipopt`	74.181	21	-1.012837	min
✓	500	`jump`	`madnlp`	67.872	22	-1.012835	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	358.778	24	-1.012837	min
✓	1000	`adnlp`	`madnlp`	316.778	24	-1.012836	min
✓	1000	`exa`	`ipopt`	109.175	24	-1.012837	min
✓	1000	`exa`	`madnlp`	84.893	24	-1.012836	min	✓
✓	1000	`jump`	`ipopt`	163.639	24	-1.012837	min
✓	1000	`jump`	`madnlp`	151.962	24	-1.012836	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	723.662	23	-1.012837	min
✓	2000	`adnlp`	`madnlp`	585.030	21	-1.012830	min
✓	2000	`exa`	`ipopt`	250.037	23	-1.012837	min
✓	2000	`exa`	`madnlp`	192.521	21	-1.012830	min	✓
✓	2000	`jump`	`ipopt`	325.086	23	-1.012837	min
✓	2000	`jump`	`madnlp`	290.673	21	-1.012830	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	1113.696	101	-0.595869	min
✓	200	`adnlp`	`madnlp`	2131.637	205	-0.595869	min
✓	200	`exa`	`ipopt`	474.205	101	-0.595869	min	✓
✓	200	`exa`	`madnlp`	663.862	208	-0.595869	min
✓	200	`jump`	`ipopt`	906.398	111	-0.385378	min
✓	200	`jump`	`madnlp`	766.202	113	-0.385492	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	2955.009	116	-0.595875	min
✓	500	`adnlp`	`madnlp`	4158.054	166	-0.595875	min
✓	500	`exa`	`ipopt`	1314.405	116	-0.595875	min
✓	500	`exa`	`madnlp`	1360.725	166	-0.595875	min
✓	500	`jump`	`ipopt`	2297.432	115	-0.595875	min
✓	500	`jump`	`madnlp`	1281.150	77	-0.595875	min	✓

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	6901.755	125	-0.595876	min
✓	1000	`adnlp`	`madnlp`	5133.171	96	-0.595876	min
✓	1000	`exa`	`ipopt`	4487.361	127	-0.595876	min
✓	1000	`exa`	`madnlp`	2069.127	95	-0.595876	min	✓
✓	1000	`jump`	`ipopt`	3337.359	73	-0.305020	min
✓	1000	`jump`	`madnlp`	32575.269	480	-0.305020	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	10294.756	94	-0.595876	min
✗	2000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	2000	`exa`	`ipopt`	13576.182	145	-0.595876	min
✓	2000	`exa`	`madnlp`	7602.333	161	-0.595876	min	✓
✗	2000	`jump`	`ipopt`	501366.833	909	-0.008230	min
✗	2000	`jump`	`madnlp`	73980.318	537	-0.334335	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	19.208	8	0.554577	min
✓	200	`adnlp`	`madnlp`	20.788	11	0.554577	min
✓	200	`exa`	`ipopt`	11.664	8	0.554577	min
✓	200	`exa`	`madnlp`	10.987	11	0.554577	min	✓
✓	200	`jump`	`ipopt`	15.237	8	0.554577	min
✓	200	`jump`	`madnlp`	18.066	11	0.554577	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	46.355	8	0.554572	min
✓	500	`adnlp`	`madnlp`	59.853	13	0.554572	min
✓	500	`exa`	`ipopt`	29.995	8	0.554572	min	✓
✓	500	`exa`	`madnlp`	32.416	13	0.554572	min
✓	500	`jump`	`ipopt`	36.918	8	0.554572	min
✓	500	`jump`	`madnlp`	51.568	13	0.554572	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	103.758	8	0.554571	min
✗	1000	`adnlp`	`madnlp`	N/A	N/A	N/A	N/A
✓	1000	`exa`	`ipopt`	69.884	8	0.554571	min	✓
✓	1000	`exa`	`madnlp`	75.135	14	0.554571	min
✓	1000	`jump`	`ipopt`	83.419	8	0.554571	min
✓	1000	`jump`	`madnlp`	113.552	14	0.554571	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	223.082	8	0.554571	min
✓	2000	`adnlp`	`madnlp`	312.391	14	0.554571	min
✓	2000	`exa`	`ipopt`	173.779	8	0.554571	min	✓
✓	2000	`exa`	`madnlp`	212.689	14	0.554571	min
✓	2000	`jump`	`ipopt`	180.225	8	0.554571	min
✓	2000	`jump`	`madnlp`	275.347	14	0.554571	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	200	`adnlp`	`ipopt`	5.096	3	1.047836	min
✓	200	`adnlp`	`madnlp`	4.859	3	1.047836	min
✓	200	`exa`	`ipopt`	2.467	3	1.047836	min
✓	200	`exa`	`madnlp`	1.851	3	1.047836	min	✓
✓	200	`jump`	`ipopt`	3.290	3	1.047836	min
✓	200	`jump`	`madnlp`	4.764	3	1.047836	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	500	`adnlp`	`ipopt`	11.137	3	1.047812	min
✓	500	`adnlp`	`madnlp`	11.182	3	1.047812	min
✓	500	`exa`	`ipopt`	5.023	3	1.047812	min
✓	500	`exa`	`madnlp`	4.385	3	1.047812	min	✓
✓	500	`jump`	`ipopt`	6.974	3	1.047812	min
✓	500	`jump`	`madnlp`	10.769	3	1.047812	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	1000	`adnlp`	`ipopt`	21.324	3	1.047808	min
✓	1000	`adnlp`	`madnlp`	22.482	3	1.047808	min
✓	1000	`exa`	`ipopt`	9.390	3	1.047808	min
✓	1000	`exa`	`madnlp`	8.462	3	1.047808	min	✓
✓	1000	`jump`	`ipopt`	13.179	3	1.047808	min
✓	1000	`jump`	`madnlp`	21.722	3	1.047808	min

Success	N	Model	Solver	Time (ms)	Iters	Objective	Criterion	Best
✓	2000	`adnlp`	`ipopt`	42.085	3	1.047807	min
✓	2000	`adnlp`	`madnlp`	56.057	3	1.047807	min
✓	2000	`exa`	`ipopt`	18.126	3	1.047807	min	✓
✓	2000	`exa`	`madnlp`	35.517	3	1.047807	min
✓	2000	`jump`	`ipopt`	25.386	3	1.047807	min
✓	2000	`jump`	`madnlp`	56.214	3	1.047807	min

ℹ️ Log

Benchmarks results:

┌─ Problem: balanced_field
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  51.475 ms | iters: 17    | obj: 7.710114e+02  (min) | CPU:  22.70 KiB
│  │  ✓ | adnlp    | time:  74.182 ms | iters: 17    | obj: 7.710114e+02  (min) | CPU:  23.00 MiB
│  │  ✓ | exa      | time:  25.513 ms | iters: 17    | obj: 7.710114e+02  (min) | CPU: 129.11 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 148.568 ms | iters: 20    | obj: 7.710085e+02  (min) | CPU:  26.41 KiB
│  │  ✓ | adnlp    | time: 211.184 ms | iters: 20    | obj: 7.710085e+02  (min) | CPU:  66.32 MiB
│  │  ✓ | exa      | time:  69.127 ms | iters: 20    | obj: 7.710085e+02  (min) | CPU: 242.58 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 318.731 ms | iters: 20    | obj: 7.710080e+02  (min) | CPU:  26.41 KiB
│  │  ✓ | adnlp    | time: 451.807 ms | iters: 20    | obj: 7.710080e+02  (min) | CPU: 132.40 MiB
│  │  ✓ | exa      | time: 315.920 ms | iters: 20    | obj: 7.710080e+02  (min) | CPU: 425.95 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   1.264 s  | iters: 26    | obj: 7.710079e+02  (min) | CPU:  34.56 KiB
│  │  ✓ | adnlp    | time:   1.325 s  | iters: 26    | obj: 7.710079e+02  (min) | CPU: 340.26 MiB
│  │  ✓ | exa      | time:   1.257 s  | iters: 26    | obj: 7.710079e+02  (min) | CPU: 799.94 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  67.503 ms | iters: 23    | obj: 7.710114e+02  (min) | CPU:  31.44 MiB
│  │  ✓ | adnlp    | time:  93.739 ms | iters: 23    | obj: 7.710114e+02  (min) | CPU:  34.07 MiB
│  │  ✓ | exa      | time:  25.381 ms | iters: 23    | obj: 7.710114e+02  (min) | CPU:   5.62 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 181.815 ms | iters: 25    | obj: 7.710085e+02  (min) | CPU:  82.24 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:  67.841 ms | iters: 25    | obj: 7.710085e+02  (min) | CPU:  14.01 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 349.429 ms | iters: 23    | obj: 7.710080e+02  (min) | CPU: 164.44 MiB
│  │  ✓ | adnlp    | time: 510.589 ms | iters: 23    | obj: 7.710080e+02  (min) | CPU: 168.42 MiB
│  │  ✓ | exa      | time: 132.933 ms | iters: 23    | obj: 7.710080e+02  (min) | CPU:  26.92 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 756.205 ms | iters: 24    | obj: 7.710079e+02  (min) | CPU: 329.77 MiB
│  │  ✓ | adnlp    | time:   1.178 s  | iters: 24    | obj: 7.710079e+02  (min) | CPU: 349.25 MiB
│  │  ✓ | exa      | time: 386.271 ms | iters: 24    | obj: 7.710079e+02  (min) | CPU:  54.32 MiB
│  └─
└─

┌─ Problem: beam
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   9.195 ms | iters: 16    | obj: 8.891335e+00  (min) | CPU:  10.16 KiB
│  │  ✓ | adnlp    | time:  13.707 ms | iters: 16    | obj: 8.891335e+00  (min) | CPU:   2.37 MiB
│  │  ✓ | exa      | time:   9.045 ms | iters: 16    | obj: 8.891335e+00  (min) | CPU:  72.55 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  23.103 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:  11.16 KiB
│  │  ✓ | adnlp    | time:  32.804 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   6.47 MiB
│  │  ✓ | exa      | time:  21.565 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU: 137.67 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  69.920 ms | iters: 30    | obj: 8.888987e+00  (min) | CPU:  17.16 KiB
│  │  ✓ | adnlp    | time: 109.221 ms | iters: 33    | obj: 8.888988e+00  (min) | CPU:  22.54 MiB
│  │  ✓ | exa      | time:  73.810 ms | iters: 35    | obj: 8.888987e+00  (min) | CPU: 260.89 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 143.263 ms | iters: 32    | obj: 8.888914e+00  (min) | CPU:  18.16 KiB
│  │  ✓ | adnlp    | time: 229.854 ms | iters: 34    | obj: 8.888913e+00  (min) | CPU:  46.25 MiB
│  │  ✓ | exa      | time: 121.678 ms | iters: 28    | obj: 8.888915e+00  (min) | CPU: 464.61 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   7.116 ms | iters: 21    | obj: 8.891335e+00  (min) | CPU:   1.95 MiB
│  │  ✓ | adnlp    | time:  12.842 ms | iters: 21    | obj: 8.891335e+00  (min) | CPU:   4.59 MiB
│  │  ✓ | exa      | time:   7.275 ms | iters: 21    | obj: 8.891335e+00  (min) | CPU:   1.76 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  14.750 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   4.13 MiB
│  │  ✓ | adnlp    | time:  24.390 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   9.81 MiB
│  │  ✓ | exa      | time:  14.885 ms | iters: 18    | obj: 8.889282e+00  (min) | CPU:   3.74 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  39.725 ms | iters: 26    | obj: 8.888987e+00  (min) | CPU:   9.85 MiB
│  │  ✓ | adnlp    | time:  68.502 ms | iters: 28    | obj: 8.888987e+00  (min) | CPU:  28.11 MiB
│  │  ✓ | exa      | time:  40.908 ms | iters: 26    | obj: 8.888987e+00  (min) | CPU:   8.99 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 137.773 ms | iters: 38    | obj: 8.888914e+00  (min) | CPU:  24.64 MiB
│  │  ✓ | adnlp    | time: 215.767 ms | iters: 40    | obj: 8.888914e+00  (min) | CPU:  76.03 MiB
│  │  ✓ | exa      | time: 144.782 ms | iters: 37    | obj: 8.888914e+00  (min) | CPU:  22.32 MiB
│  └─
└─

┌─ Problem: brachistochrone
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  30.637 ms | iters: 19    | obj: 1.802935e+00  (min) | CPU:  25.17 KiB
│  │  ✓ | adnlp    | time:  44.755 ms | iters: 19    | obj: 1.802935e+00  (min) | CPU:  28.07 MiB
│  │  ✓ | exa      | time:  18.415 ms | iters: 19    | obj: 1.802935e+00  (min) | CPU:  96.05 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  68.400 ms | iters: 18    | obj: 1.802932e+00  (min) | CPU:  24.19 KiB
│  │  ✓ | adnlp    | time:  94.310 ms | iters: 18    | obj: 1.802932e+00  (min) | CPU:  66.85 MiB
│  │  ✓ | exa      | time:  38.303 ms | iters: 18    | obj: 1.802932e+00  (min) | CPU: 182.03 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 144.564 ms | iters: 20    | obj: 1.802932e+00  (min) | CPU:  26.41 KiB
│  │  ✓ | adnlp    | time: 217.536 ms | iters: 20    | obj: 1.802932e+00  (min) | CPU: 146.10 MiB
│  │  ✓ | exa      | time:  85.555 ms | iters: 20    | obj: 1.802932e+00  (min) | CPU: 328.33 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 309.109 ms | iters: 19    | obj: 1.802932e+00  (min) | CPU:  25.17 KiB
│  │  ✓ | adnlp    | time: 465.061 ms | iters: 19    | obj: 1.802932e+00  (min) | CPU: 278.60 MiB
│  │  ✓ | exa      | time: 211.270 ms | iters: 19    | obj: 1.802932e+00  (min) | CPU: 616.36 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  30.706 ms | iters: 20    | obj: 1.802935e+00  (min) | CPU:  14.31 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:  14.989 ms | iters: 20    | obj: 1.802935e+00  (min) | CPU:   2.88 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  79.136 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  35.95 MiB
│  │  ✓ | adnlp    | time: 105.849 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  82.13 MiB
│  │  ✓ | exa      | time:  37.887 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:   6.87 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 163.846 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  70.50 MiB
│  │  ✓ | adnlp    | time: 228.037 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU: 163.81 MiB
│  │  ✓ | exa      | time:  79.781 ms | iters: 21    | obj: 1.802932e+00  (min) | CPU:  13.50 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 381.650 ms | iters: 23    | obj: 1.802932e+00  (min) | CPU: 142.76 MiB
│  │  ✓ | adnlp    | time: 570.658 ms | iters: 23    | obj: 1.802932e+00  (min) | CPU: 354.90 MiB
│  │  ✓ | exa      | time: 215.244 ms | iters: 23    | obj: 1.802932e+00  (min) | CPU:  27.77 MiB
│  └─
└─

┌─ Problem: bryson_denham
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   7.769 ms | iters: 13    | obj: 4.000889e+00  (min) | CPU:   8.66 KiB
│  │  ✓ | adnlp    | time:  11.850 ms | iters: 13    | obj: 4.000889e+00  (min) | CPU:   1.97 MiB
│  │  ✓ | exa      | time:   7.444 ms | iters: 13    | obj: 4.000889e+00  (min) | CPU:  69.45 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  20.597 ms | iters: 16    | obj: 4.000143e+00  (min) | CPU:  10.16 KiB
│  │  ✓ | adnlp    | time:  28.445 ms | iters: 16    | obj: 4.000143e+00  (min) | CPU:   5.82 MiB
│  │  ✓ | exa      | time:  18.795 ms | iters: 16    | obj: 4.000143e+00  (min) | CPU: 135.61 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  50.486 ms | iters: 22    | obj: 4.000037e+00  (min) | CPU:  13.16 KiB
│  │  ✓ | adnlp    | time:  70.497 ms | iters: 22    | obj: 4.000037e+00  (min) | CPU:  15.45 MiB
│  │  ✓ | exa      | time:  47.104 ms | iters: 22    | obj: 4.000037e+00  (min) | CPU: 247.48 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 115.379 ms | iters: 26    | obj: 4.000009e+00  (min) | CPU:  15.16 KiB
│  │  ✓ | adnlp    | time: 150.719 ms | iters: 23    | obj: 4.000009e+00  (min) | CPU:  32.11 MiB
│  │  ✓ | exa      | time: 106.645 ms | iters: 25    | obj: 4.000009e+00  (min) | CPU: 461.52 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   5.170 ms | iters: 15    | obj: 4.000889e+00  (min) | CPU:   1.53 MiB
│  │  ✓ | adnlp    | time:   9.225 ms | iters: 15    | obj: 4.000889e+00  (min) | CPU:   3.39 MiB
│  │  ✓ | exa      | time:   5.287 ms | iters: 15    | obj: 4.000889e+00  (min) | CPU:   1.33 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  15.199 ms | iters: 19    | obj: 4.000143e+00  (min) | CPU:   3.86 MiB
│  │  ✓ | adnlp    | time:  26.453 ms | iters: 19    | obj: 4.000143e+00  (min) | CPU:  10.00 MiB
│  │  ✓ | exa      | time:  14.685 ms | iters: 18    | obj: 4.000143e+00  (min) | CPU:   3.33 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  36.474 ms | iters: 24    | obj: 4.000036e+00  (min) | CPU:   8.38 MiB
│  │  ✓ | adnlp    | time:  61.337 ms | iters: 23    | obj: 4.000036e+00  (min) | CPU:  22.68 MiB
│  │  ✓ | exa      | time:  37.817 ms | iters: 24    | obj: 4.000036e+00  (min) | CPU:   7.59 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 140.386 ms | iters: 38    | obj: 4.000009e+00  (min) | CPU:  21.49 MiB
│  │  ✓ | adnlp    | time: 224.070 ms | iters: 37    | obj: 4.000009e+00  (min) | CPU:  67.85 MiB
│  │  ✓ | exa      | time: 144.869 ms | iters: 37    | obj: 4.000009e+00  (min) | CPU:  19.25 MiB
│  └─
└─

┌─ Problem: chain
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   9.516 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:  10.36 KiB
│  │  ✓ | adnlp    | time:  11.434 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   4.40 MiB
│  │  ✓ | exa      | time:   6.041 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:  70.12 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  42.796 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  20.50 KiB
│  │  ✓ | adnlp    | time:  48.435 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  20.40 MiB
│  │  ✓ | exa      | time:  25.619 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU: 146.62 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  39.793 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:   9.12 KiB
│  │  ✓ | adnlp    | time:  45.606 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:  19.35 MiB
│  │  ✓ | exa      | time:  25.631 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU: 250.34 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  84.069 ms | iters: 6     | obj: 5.068489e+00  (min) | CPU:   9.12 KiB
│  │  ✓ | adnlp    | time:  91.481 ms | iters: 6     | obj: 5.068489e+00  (min) | CPU:  38.65 MiB
│  │  ✓ | exa      | time:  57.481 ms | iters: 6     | obj: 5.068489e+00  (min) | CPU: 476.91 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  10.144 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   7.19 MiB
│  │  ✓ | adnlp    | time:   9.321 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   5.53 MiB
│  │  ✓ | exa      | time:   5.000 ms | iters: 7     | obj: 5.068917e+00  (min) | CPU:   1.43 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  41.671 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  19.22 MiB
│  │  ✓ | adnlp    | time:  42.241 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:  23.67 MiB
│  │  ✓ | exa      | time:  22.361 ms | iters: 14    | obj: 5.068578e+00  (min) | CPU:   3.98 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  43.111 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:  37.98 MiB
│  │  ✓ | adnlp    | time:  39.377 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:  24.41 MiB
│  │  ✓ | exa      | time:  19.991 ms | iters: 6     | obj: 5.068510e+00  (min) | CPU:   6.42 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 119.468 ms | iters: 6     | obj: 5.068489e+00  (min) | CPU:  76.62 MiB
│  │  ✓ | adnlp    | time: 113.361 ms | iters: 6     | obj: 5.068489e+00  (min) | CPU:  48.67 MiB
│  │  ✓ | exa      | time:  80.068 ms | iters: 6     | obj: 5.068489e+00  (min) | CPU:  12.71 MiB
│  └─
└─

┌─ Problem: dielectrophoretic_particle
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  12.591 ms | iters: 12    | obj: 7.811387e+00  (min) | CPU:  17.03 KiB
│  │  ✓ | adnlp    | time:  21.628 ms | iters: 12    | obj: 7.811387e+00  (min) | CPU:   7.29 MiB
│  │  ✓ | exa      | time:   7.997 ms | iters: 12    | obj: 7.811387e+00  (min) | CPU:  72.77 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  28.762 ms | iters: 13    | obj: 7.811324e+00  (min) | CPU:  17.77 KiB
│  │  ✓ | adnlp    | time:  46.891 ms | iters: 13    | obj: 7.811324e+00  (min) | CPU:  19.13 MiB
│  │  ✓ | exa      | time:  18.718 ms | iters: 13    | obj: 7.811324e+00  (min) | CPU: 136.45 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  54.146 ms | iters: 13    | obj: 7.811314e+00  (min) | CPU:  17.77 KiB
│  │  ✓ | adnlp    | time:  96.787 ms | iters: 13    | obj: 7.811314e+00  (min) | CPU:  38.15 MiB
│  │  ✓ | exa      | time:  37.053 ms | iters: 13    | obj: 7.811314e+00  (min) | CPU: 242.14 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 121.234 ms | iters: 13    | obj: 7.811312e+00  (min) | CPU:  17.77 KiB
│  │  ✓ | adnlp    | time: 214.448 ms | iters: 13    | obj: 7.811312e+00  (min) | CPU:  76.20 MiB
│  │  ✓ | exa      | time:  93.755 ms | iters: 13    | obj: 7.811312e+00  (min) | CPU: 453.08 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  10.987 ms | iters: 13    | obj: 7.811387e+00  (min) | CPU:   6.83 MiB
│  │  ✓ | adnlp    | time:  17.230 ms | iters: 13    | obj: 7.811387e+00  (min) | CPU:   9.15 MiB
│  │  ✓ | exa      | time:   5.843 ms | iters: 13    | obj: 7.811387e+00  (min) | CPU:   1.95 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  29.175 ms | iters: 15    | obj: 7.811325e+00  (min) | CPU:  16.68 MiB
│  │  ✓ | adnlp    | time:  47.718 ms | iters: 15    | obj: 7.811325e+00  (min) | CPU:  25.28 MiB
│  │  ✓ | exa      | time:  16.000 ms | iters: 15    | obj: 7.811325e+00  (min) | CPU:   4.79 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  61.956 ms | iters: 16    | obj: 7.811315e+00  (min) | CPU:  34.32 MiB
│  │  ✓ | adnlp    | time: 100.939 ms | iters: 16    | obj: 7.811315e+00  (min) | CPU:  53.10 MiB
│  │  ✓ | exa      | time:  34.960 ms | iters: 16    | obj: 7.811315e+00  (min) | CPU:   9.63 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 150.618 ms | iters: 17    | obj: 7.811313e+00  (min) | CPU:  69.65 MiB
│  │  ✓ | adnlp    | time: 239.519 ms | iters: 17    | obj: 7.811313e+00  (min) | CPU: 111.45 MiB
│  │  ✓ | exa      | time:  98.426 ms | iters: 17    | obj: 7.811313e+00  (min) | CPU:  19.47 MiB
│  └─
└─

┌─ Problem: double_oscillator
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   6.551 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time:  12.818 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   5.19 MiB
│  │  ✓ | exa      | time:   7.345 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU: 102.86 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  13.898 ms | iters: 5     | obj: 9.109230e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time:  29.456 ms | iters: 5     | obj: 9.109230e-04  (min) | CPU:  12.91 MiB
│  │  ✓ | exa      | time:  16.475 ms | iters: 5     | obj: 9.109230e-04  (min) | CPU: 213.23 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  26.472 ms | iters: 5     | obj: 9.110069e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time:  56.813 ms | iters: 5     | obj: 9.110069e-04  (min) | CPU:  25.77 MiB
│  │  ✓ | exa      | time:  31.936 ms | iters: 5     | obj: 9.110069e-04  (min) | CPU: 396.61 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  50.665 ms | iters: 5     | obj: 9.110279e-04  (min) | CPU:   7.89 KiB
│  │  ✓ | adnlp    | time: 115.637 ms | iters: 5     | obj: 9.110279e-04  (min) | CPU:  51.49 MiB
│  │  ✓ | exa      | time:  62.855 ms | iters: 5     | obj: 9.110279e-04  (min) | CPU: 763.80 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   4.966 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   2.39 MiB
│  │  ✓ | adnlp    | time:  11.718 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   6.78 MiB
│  │  ✓ | exa      | time:   5.263 ms | iters: 5     | obj: 9.103362e-04  (min) | CPU:   2.71 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  13.258 ms | iters: 6     | obj: 9.109230e-04  (min) | CPU:   5.77 MiB
│  │  ✓ | adnlp    | time:  33.058 ms | iters: 6     | obj: 9.109230e-04  (min) | CPU:  18.77 MiB
│  │  ✓ | exa      | time:  14.544 ms | iters: 6     | obj: 9.109230e-04  (min) | CPU:   6.72 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  25.909 ms | iters: 6     | obj: 9.110069e-04  (min) | CPU:  11.60 MiB
│  │  ✓ | adnlp    | time:  64.119 ms | iters: 6     | obj: 9.110069e-04  (min) | CPU:  37.36 MiB
│  │  ✓ | exa      | time:  28.400 ms | iters: 6     | obj: 9.110069e-04  (min) | CPU:  13.26 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  94.339 ms | iters: 6     | obj: 9.110279e-04  (min) | CPU:  23.30 MiB
│  │  ✓ | adnlp    | time: 169.348 ms | iters: 6     | obj: 9.110279e-04  (min) | CPU:  74.57 MiB
│  │  ✓ | exa      | time: 136.648 ms | iters: 6     | obj: 9.110279e-04  (min) | CPU:  26.38 MiB
│  └─
└─

┌─ Problem: ducted_fan
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 578.442 ms | iters: 115   | obj: 1.831942e+03  (min) | CPU: 161.69 KiB
│  │  ✓ | adnlp    | time: 612.395 ms | iters: 96    | obj: 1.831942e+03  (min) | CPU: 117.13 MiB
│  │  ✓ | exa      | time: 344.597 ms | iters: 98    | obj: 1.831942e+03  (min) | CPU: 265.86 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.321 s  | iters: 84    | obj: 1.831665e+03  (min) | CPU: 107.80 KiB
│  │  ✓ | adnlp    | time:   2.276 s  | iters: 124   | obj: 1.831665e+03  (min) | CPU: 377.79 MiB
│  │  ✓ | exa      | time:   1.064 s  | iters: 124   | obj: 1.831665e+03  (min) | CPU: 465.70 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   3.785 s  | iters: 111   | obj: 1.831623e+03  (min) | CPU: 147.39 KiB
│  │  ✓ | adnlp    | time:  25.835 s  | iters: 553   | obj: 1.831623e+03  (min) | CPU:   3.37 GiB
│  │  ✓ | exa      | time:  15.838 s  | iters: 426   | obj: 1.831623e+03  (min) | CPU:   1.11 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  30.506 s  | iters: 372   | obj: 1.831613e+03  (min) | CPU: 466.73 KiB
│  │  ✗ | adnlp    | time:  93.489 s  | iters: 1000  | obj: 1.831746e+03  (min) | CPU:  11.48 GiB
│  │  ✗ | exa      | time:  83.529 s  | iters: 1000  | obj: 1.832224e+03  (min) | CPU:   2.18 MiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 123.499 ms | iters: 41    | obj: 1.831942e+03  (min) | CPU:  23.30 MiB
│  │  ✓ | adnlp    | time: 188.282 ms | iters: 41    | obj: 1.831942e+03  (min) | CPU:  61.09 MiB
│  │  ✓ | exa      | time:  96.165 ms | iters: 41    | obj: 1.831942e+03  (min) | CPU:   9.51 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 683.232 ms | iters: 94    | obj: 1.831665e+03  (min) | CPU:  85.70 MiB
│  │  ✓ | adnlp    | time:   1.664 s  | iters: 157   | obj: 1.831665e+03  (min) | CPU: 642.04 MiB
│  │  ✓ | exa      | time: 430.957 ms | iters: 94    | obj: 1.831665e+03  (min) | CPU:  51.82 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   1.398 s  | iters: 82    | obj: 1.831623e+03  (min) | CPU: 141.86 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:   1.150 s  | iters: 73    | obj: 1.831623e+03  (min) | CPU:  64.41 MiB
│  │
│  │  N = 2000
│  │  ✗ | jump     | time:   1.754 s  | iters: 52    | obj: 1.242629e+02  (min) | CPU: 297.16 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✗ | exa      | time:   1.811 s  | iters: 66    | obj: 1.374860e+02  (min) | CPU: 210.48 MiB
│  └─
└─

┌─ Problem: electric_vehicle
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   4.330 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:   7.073 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   2.71 MiB
│  │  ✓ | exa      | time:   3.044 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:  58.38 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   9.532 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:  17.454 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   6.74 MiB
│  │  ✓ | exa      | time:   6.285 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU: 107.44 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  18.265 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:  33.019 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:  13.44 MiB
│  │  ✓ | exa      | time:  11.675 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU: 189.62 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  34.849 ms | iters: 4     | obj: 1.228581e+03  (min) | CPU:   6.66 KiB
│  │  ✓ | adnlp    | time:  64.253 ms | iters: 4     | obj: 1.228581e+03  (min) | CPU:  26.84 MiB
│  │  ✓ | exa      | time:  22.407 ms | iters: 4     | obj: 1.228581e+03  (min) | CPU: 353.69 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   5.672 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   5.62 MiB
│  │  ✓ | adnlp    | time:   6.137 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   3.53 MiB
│  │  ✓ | exa      | time:   2.202 ms | iters: 4     | obj: 1.228699e+03  (min) | CPU:   1.33 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  13.530 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:  13.73 MiB
│  │  ✓ | adnlp    | time:  15.888 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   8.66 MiB
│  │  ✓ | exa      | time:   5.238 ms | iters: 4     | obj: 1.228599e+03  (min) | CPU:   3.14 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  26.084 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:  28.14 MiB
│  │  ✓ | adnlp    | time:  31.046 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:  17.19 MiB
│  │  ✓ | exa      | time:  10.046 ms | iters: 4     | obj: 1.228585e+03  (min) | CPU:   6.15 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  68.801 ms | iters: 4     | obj: 1.228581e+03  (min) | CPU:  56.87 MiB
│  │  ✓ | adnlp    | time:  80.502 ms | iters: 4     | obj: 1.228581e+03  (min) | CPU:  34.27 MiB
│  │  ✓ | exa      | time:  39.775 ms | iters: 4     | obj: 1.228581e+03  (min) | CPU:  12.17 MiB
│  └─
└─

┌─ Problem: glider
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 350.470 ms | iters: 78    | obj: -1.248896e+03 (min) | CPU:  98.25 KiB
│  │  ✓ | adnlp    | time: 426.605 ms | iters: 78    | obj: -1.248896e+03 (min) | CPU:  76.78 MiB
│  │  ✓ | exa      | time: 228.191 ms | iters: 78    | obj: -1.248896e+03 (min) | CPU: 268.72 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  28.096 s  | iters: 68    | obj: -1.247978e+03 (min) | CPU:  88.16 KiB
│  │  ✓ | adnlp    | time:  28.402 s  | iters: 68    | obj: -1.247978e+03 (min) | CPU: 168.26 MiB
│  │  ✓ | exa      | time:  22.931 s  | iters: 68    | obj: -1.247978e+03 (min) | CPU: 370.61 KiB
│  │
│  │  N = 1000
│  │  ✗ | jump     | time: 521.645 s  | iters: 21    | obj: -1.058884e+03 (min) | CPU:  27.64 KiB
│  │  ✗ | adnlp    | time: 523.806 s  | iters: 21    | obj: -1.058885e+03 (min) | CPU: 108.56 MiB
│  │  ✗ | exa      | time: 510.327 s  | iters: 20    | obj: -1.058875e+03 (min) | CPU: 502.45 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   1.562 s  | iters: 38    | obj: -1.247987e+03 (min) | CPU:  48.62 KiB
│  │  ✓ | adnlp    | time:   1.813 s  | iters: 38    | obj: -1.247987e+03 (min) | CPU: 378.92 MiB
│  │  ✓ | exa      | time: 966.748 ms | iters: 38    | obj: -1.247987e+03 (min) | CPU: 888.20 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 414.842 ms | iters: 106   | obj: -1.248896e+03 (min) | CPU:  58.00 MiB
│  │  ✓ | adnlp    | time: 463.597 ms | iters: 83    | obj: -1.248896e+03 (min) | CPU:  95.23 MiB
│  │  ✓ | exa      | time: 169.078 ms | iters: 86    | obj: -1.248896e+03 (min) | CPU:  12.60 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.708 s  | iters: 175   | obj: -1.247978e+03 (min) | CPU: 160.81 MiB
│  │  ✓ | adnlp    | time:   2.357 s  | iters: 210   | obj: -1.247978e+03 (min) | CPU: 568.66 MiB
│  │  ✓ | exa      | time: 961.809 ms | iters: 194   | obj: -1.247978e+03 (min) | CPU:  52.99 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   1.934 s  | iters: 97    | obj: -1.247985e+03 (min) | CPU: 285.80 MiB
│  │  ✓ | adnlp    | time:   2.458 s  | iters: 102   | obj: -1.247985e+03 (min) | CPU: 562.93 MiB
│  │  ✓ | exa      | time:   1.457 s  | iters: 150   | obj: -1.247985e+03 (min) | CPU:  84.72 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   2.742 s  | iters: 58    | obj: -1.247987e+03 (min) | CPU: 536.37 MiB
│  │  ✓ | adnlp    | time:   7.447 s  | iters: 139   | obj: -1.247987e+03 (min) | CPU:   1.47 GiB
│  │  ✓ | exa      | time:   2.123 s  | iters: 86    | obj: -1.247987e+03 (min) | CPU: 117.35 MiB
│  └─
└─

┌─ Problem: insurance
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 270.431 ms | iters: 91    | obj: -2.058581e+00 (min) | CPU: 118.55 KiB
│  │  ✓ | adnlp    | time: 436.605 ms | iters: 90    | obj: -2.058581e+00 (min) | CPU: 121.34 MiB
│  │  ✓ | exa      | time: 199.002 ms | iters: 90    | obj: -2.058581e+00 (min) | CPU: 246.08 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 717.724 ms | iters: 101   | obj: -2.059214e+00 (min) | CPU: 127.14 KiB
│  │  ✓ | adnlp    | time: 953.037 ms | iters: 87    | obj: -2.059208e+00 (min) | CPU: 283.31 MiB
│  │  ✓ | exa      | time: 514.562 ms | iters: 97    | obj: -2.059214e+00 (min) | CPU: 429.19 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   1.628 s  | iters: 119   | obj: -2.059511e+00 (min) | CPU: 150.61 KiB
│  │  ✓ | adnlp    | time:   3.282 s  | iters: 140   | obj: -2.059511e+00 (min) | CPU: 909.58 MiB
│  │  ✓ | exa      | time:   1.932 s  | iters: 149   | obj: -2.059511e+00 (min) | CPU: 785.94 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   5.674 s  | iters: 216   | obj: -2.059700e+00 (min) | CPU: 275.09 KiB
│  │  ✓ | adnlp    | time:   9.624 s  | iters: 193   | obj: -2.059700e+00 (min) | CPU:   2.44 GiB
│  │  ✓ | exa      | time:   5.242 s  | iters: 223   | obj: -2.059700e+00 (min) | CPU:   1.43 MiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 313.166 ms | iters: 120   | obj: -2.058581e+00 (min) | CPU:  38.18 MiB
│  │  ✓ | adnlp    | time: 485.208 ms | iters: 120   | obj: -2.058581e+00 (min) | CPU: 200.33 MiB
│  │  ✓ | exa      | time: 208.163 ms | iters: 120   | obj: -2.058581e+00 (min) | CPU:  26.32 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.857 s  | iters: 254   | obj: -2.059213e+00 (min) | CPU: 159.68 MiB
│  │  ✓ | adnlp    | time:   4.108 s  | iters: 363   | obj: -2.059213e+00 (min) | CPU:   1.31 GiB
│  │  ✓ | exa      | time:   1.475 s  | iters: 264   | obj: -2.059213e+00 (min) | CPU: 118.28 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   6.229 s  | iters: 494   | obj: -2.059510e+00 (min) | CPU: 481.29 MiB
│  │  ✓ | adnlp    | time:  15.193 s  | iters: 635   | obj: -2.059510e+00 (min) | CPU:   4.52 GiB
│  │  ✓ | exa      | time:   7.993 s  | iters: 646   | obj: -2.059510e+00 (min) | CPU: 550.01 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   4.701 s  | iters: 171   | obj: -2.059697e+00 (min) | CPU: 444.56 MiB
│  │  ✓ | adnlp    | time:   8.748 s  | iters: 171   | obj: -2.059697e+00 (min) | CPU:   2.56 GiB
│  │  ✓ | exa      | time:   4.592 s  | iters: 171   | obj: -2.059697e+00 (min) | CPU: 321.33 MiB
│  └─
└─

┌─ Problem: jackson
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  47.707 ms | iters: 42    | obj: -1.918613e-01 (min) | CPU:  55.06 KiB
│  │  ✓ | adnlp    | time:  70.266 ms | iters: 42    | obj: -1.918613e-01 (min) | CPU:  10.80 MiB
│  │  ✓ | exa      | time:  49.014 ms | iters: 42    | obj: -1.918613e-01 (min) | CPU: 124.73 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 147.754 ms | iters: 58    | obj: -1.918219e-01 (min) | CPU:  73.81 KiB
│  │  ✓ | adnlp    | time: 245.760 ms | iters: 58    | obj: -1.918219e-01 (min) | CPU:  36.18 MiB
│  │  ✓ | exa      | time: 157.634 ms | iters: 58    | obj: -1.918219e-01 (min) | CPU: 227.05 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  88.192 ms | iters: 21    | obj: -1.918162e-01 (min) | CPU:  27.64 KiB
│  │  ✓ | adnlp    | time: 159.305 ms | iters: 21    | obj: -1.918162e-01 (min) | CPU:  27.46 MiB
│  │  ✓ | exa      | time:  90.671 ms | iters: 21    | obj: -1.918162e-01 (min) | CPU: 333.11 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 144.711 ms | iters: 19    | obj: -1.918148e-01 (min) | CPU:  25.17 KiB
│  │  ✓ | adnlp    | time: 294.715 ms | iters: 19    | obj: -1.918148e-01 (min) | CPU:  50.03 MiB
│  │  ✓ | exa      | time: 153.214 ms | iters: 19    | obj: -1.918148e-01 (min) | CPU: 620.11 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  28.792 ms | iters: 40    | obj: -1.918610e-01 (min) | CPU:   6.94 MiB
│  │  ✓ | adnlp    | time:  58.243 ms | iters: 40    | obj: -1.918610e-01 (min) | CPU:  15.86 MiB
│  │  ✓ | exa      | time:  30.020 ms | iters: 40    | obj: -1.918610e-01 (min) | CPU:   6.74 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  31.314 ms | iters: 22    | obj: -1.918217e-01 (min) | CPU:  12.71 MiB
│  │  ✓ | adnlp    | time:  69.667 ms | iters: 22    | obj: -1.918217e-01 (min) | CPU:  22.99 MiB
│  │  ✓ | exa      | time:  31.027 ms | iters: 22    | obj: -1.918217e-01 (min) | CPU:  11.28 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  62.844 ms | iters: 23    | obj: -1.918159e-01 (min) | CPU:  25.89 MiB
│  │  ✓ | adnlp    | time: 139.426 ms | iters: 23    | obj: -1.918159e-01 (min) | CPU:  47.41 MiB
│  │  ✓ | exa      | time:  63.358 ms | iters: 23    | obj: -1.918159e-01 (min) | CPU:  22.83 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 160.354 ms | iters: 23    | obj: -1.918142e-01 (min) | CPU:  51.82 MiB
│  │  ✓ | adnlp    | time: 330.711 ms | iters: 23    | obj: -1.918142e-01 (min) | CPU:  94.51 MiB
│  │  ✓ | exa      | time: 180.301 ms | iters: 23    | obj: -1.918142e-01 (min) | CPU:  45.39 MiB
│  └─
└─

┌─ Problem: mountain_car
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  48.042 ms | iters: 41    | obj: 1.023976e+02  (min) | CPU:  52.33 KiB
│  │  ✓ | adnlp    | time:  63.829 ms | iters: 41    | obj: 1.023976e+02  (min) | CPU:  10.43 MiB
│  │  ✓ | exa      | time:  37.657 ms | iters: 41    | obj: 1.023976e+02  (min) | CPU: 100.95 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 168.079 ms | iters: 68    | obj: 1.023699e+02  (min) | CPU:  88.41 KiB
│  │  ✓ | adnlp    | time: 233.596 ms | iters: 69    | obj: 1.023699e+02  (min) | CPU:  43.15 MiB
│  │  ✓ | exa      | time: 129.106 ms | iters: 68    | obj: 1.023699e+02  (min) | CPU: 194.09 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 294.113 ms | iters: 64    | obj: 1.023682e+02  (min) | CPU:  80.72 KiB
│  │  ✓ | adnlp    | time: 421.401 ms | iters: 64    | obj: 1.023682e+02  (min) | CPU:  78.76 MiB
│  │  ✓ | exa      | time: 206.601 ms | iters: 62    | obj: 1.023682e+02  (min) | CPU: 291.36 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 902.533 ms | iters: 82    | obj: 1.023677e+02  (min) | CPU: 102.94 KiB
│  │  ✓ | adnlp    | time:   1.225 s  | iters: 83    | obj: 1.023677e+02  (min) | CPU: 202.50 MiB
│  │  ✓ | exa      | time: 663.393 ms | iters: 82    | obj: 1.023677e+02  (min) | CPU: 522.92 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  41.682 ms | iters: 49    | obj: 1.023810e+02  (min) | CPU:   9.76 MiB
│  │  ✓ | adnlp    | time:  64.030 ms | iters: 49    | obj: 1.023810e+02  (min) | CPU:  17.45 MiB
│  │  ✓ | exa      | time:  31.210 ms | iters: 49    | obj: 1.023810e+02  (min) | CPU:   5.51 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  94.376 ms | iters: 51    | obj: 1.023699e+02  (min) | CPU:  23.86 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:  66.295 ms | iters: 51    | obj: 1.023699e+02  (min) | CPU:  13.41 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 293.286 ms | iters: 74    | obj: 1.023682e+02  (min) | CPU:  59.75 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time: 200.854 ms | iters: 74    | obj: 1.023682e+02  (min) | CPU:  37.98 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   9.708 s  | iters: 974   | obj: 1.023678e+02  (min) | CPU:   1.00 GiB
│  │  ✗ | adnlp    | time:  12.763 s  | iters: 1000  | obj: 1.030596e+02  (min) | CPU:   3.61 GiB
│  │  ✗ | exa      | time:   6.954 s  | iters: 1000  | obj: 1.145459e+02  (min) | CPU: 989.76 MiB
│  └─
└─

┌─ Problem: robbins
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  14.891 ms | iters: 19    | obj: 1.962626e+01  (min) | CPU:  12.16 KiB
│  │  ✓ | adnlp    | time:  24.047 ms | iters: 19    | obj: 1.962626e+01  (min) | CPU:   3.50 MiB
│  │  ✓ | exa      | time:  14.088 ms | iters: 19    | obj: 1.962626e+01  (min) | CPU:  95.61 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  32.547 ms | iters: 18    | obj: 1.946663e+01  (min) | CPU:  11.16 KiB
│  │  ✓ | adnlp    | time:  55.188 ms | iters: 18    | obj: 1.946663e+01  (min) | CPU:   8.08 MiB
│  │  ✓ | exa      | time:  31.745 ms | iters: 18    | obj: 1.946663e+01  (min) | CPU: 180.98 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  89.172 ms | iters: 27    | obj: 1.944019e+01  (min) | CPU:  15.66 KiB
│  │  ✓ | adnlp    | time: 147.388 ms | iters: 27    | obj: 1.944019e+01  (min) | CPU:  23.33 MiB
│  │  ✓ | exa      | time:  88.906 ms | iters: 27    | obj: 1.944019e+01  (min) | CPU: 334.70 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 198.687 ms | iters: 30    | obj: 1.943391e+01  (min) | CPU:  17.16 KiB
│  │  ✓ | adnlp    | time: 322.854 ms | iters: 30    | obj: 1.943391e+01  (min) | CPU:  51.38 MiB
│  │  ✓ | exa      | time: 206.006 ms | iters: 30    | obj: 1.943391e+01  (min) | CPU: 626.86 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  15.586 ms | iters: 34    | obj: 1.962626e+01  (min) | CPU:   2.81 MiB
│  │  ✓ | adnlp    | time:  31.795 ms | iters: 34    | obj: 1.962626e+01  (min) | CPU:   8.26 MiB
│  │  ✓ | exa      | time:  15.838 ms | iters: 34    | obj: 1.962626e+01  (min) | CPU:   2.65 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  33.164 ms | iters: 29    | obj: 1.946663e+01  (min) | CPU:   5.87 MiB
│  │  ✓ | adnlp    | time:  68.920 ms | iters: 31    | obj: 1.946663e+01  (min) | CPU:  18.72 MiB
│  │  ✓ | exa      | time:  33.499 ms | iters: 29    | obj: 1.946663e+01  (min) | CPU:   5.67 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 108.136 ms | iters: 50    | obj: 1.944019e+01  (min) | CPU:  16.03 MiB
│  │  ✓ | adnlp    | time: 217.732 ms | iters: 50    | obj: 1.944019e+01  (min) | CPU:  56.11 MiB
│  │  ✓ | exa      | time: 109.552 ms | iters: 50    | obj: 1.944019e+01  (min) | CPU:  15.45 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 239.620 ms | iters: 43    | obj: 1.943392e+01  (min) | CPU:  28.89 MiB
│  │  ✓ | adnlp    | time: 444.274 ms | iters: 44    | obj: 1.943392e+01  (min) | CPU:  99.55 MiB
│  │  ✓ | exa      | time: 265.859 ms | iters: 43    | obj: 1.943392e+01  (min) | CPU:  27.55 MiB
│  └─
└─

┌─ Problem: robot
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  60.660 ms | iters: 18    | obj: 9.141395e+00  (min) | CPU:  23.94 KiB
│  │  ✓ | adnlp    | time:  90.254 ms | iters: 18    | obj: 9.141395e+00  (min) | CPU:  12.91 MiB
│  │  ✓ | exa      | time:  42.862 ms | iters: 18    | obj: 9.141395e+00  (min) | CPU: 181.27 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 146.841 ms | iters: 17    | obj: 9.140991e+00  (min) | CPU:  22.70 KiB
│  │  ✓ | adnlp    | time: 248.662 ms | iters: 17    | obj: 9.140991e+00  (min) | CPU:  30.39 MiB
│  │  ✓ | exa      | time: 105.350 ms | iters: 17    | obj: 9.140991e+00  (min) | CPU: 369.86 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 328.863 ms | iters: 19    | obj: 9.140931e+00  (min) | CPU:  25.17 KiB
│  │  ✓ | adnlp    | time: 537.366 ms | iters: 19    | obj: 9.140931e+00  (min) | CPU:  67.10 MiB
│  │  ✓ | exa      | time: 286.265 ms | iters: 19    | obj: 9.140931e+00  (min) | CPU: 688.55 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 745.333 ms | iters: 21    | obj: 9.140917e+00  (min) | CPU:  27.64 KiB
│  │  ✓ | adnlp    | time:   1.141 s  | iters: 21    | obj: 9.140917e+00  (min) | CPU: 146.97 MiB
│  │  ✓ | exa      | time: 651.360 ms | iters: 21    | obj: 9.140917e+00  (min) | CPU:   1.29 MiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  49.179 ms | iters: 16    | obj: 9.141397e+00  (min) | CPU:  20.27 MiB
│  │  ✓ | adnlp    | time:  73.858 ms | iters: 16    | obj: 9.141397e+00  (min) | CPU:  16.98 MiB
│  │  ✓ | exa      | time:  32.411 ms | iters: 16    | obj: 9.141397e+00  (min) | CPU:   6.61 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time: 181.836 ms | iters: 25    | obj: 9.140992e+00  (min) | CPU:  54.52 MiB
│  │  ✓ | adnlp    | time: 307.383 ms | iters: 25    | obj: 9.140992e+00  (min) | CPU:  61.04 MiB
│  │  ✓ | exa      | time: 126.383 ms | iters: 25    | obj: 9.140992e+00  (min) | CPU:  20.43 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 397.667 ms | iters: 23    | obj: 9.140939e+00  (min) | CPU: 108.51 MiB
│  │  ✓ | adnlp    | time: 554.552 ms | iters: 23    | obj: 9.140939e+00  (min) | CPU: 114.69 MiB
│  │  ✓ | exa      | time: 347.159 ms | iters: 23    | obj: 9.140939e+00  (min) | CPU:  39.43 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:   1.007 s  | iters: 30    | obj: 9.140922e+00  (min) | CPU: 230.41 MiB
│  │  ✓ | adnlp    | time:   1.508 s  | iters: 30    | obj: 9.140922e+00  (min) | CPU: 287.25 MiB
│  │  ✓ | exa      | time: 919.122 ms | iters: 30    | obj: 9.140922e+00  (min) | CPU:  91.18 MiB
│  └─
└─

┌─ Problem: rocket
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  26.460 ms | iters: 18    | obj: -1.012836e+00 (min) | CPU:  23.94 KiB
│  │  ✓ | adnlp    | time:  56.519 ms | iters: 18    | obj: -1.012836e+00 (min) | CPU:  16.91 MiB
│  │  ✓ | exa      | time:  17.898 ms | iters: 18    | obj: -1.012836e+00 (min) | CPU: 101.02 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  74.181 ms | iters: 21    | obj: -1.012837e+00 (min) | CPU:  27.64 KiB
│  │  ✓ | adnlp    | time: 156.945 ms | iters: 21    | obj: -1.012837e+00 (min) | CPU:  48.36 MiB
│  │  ✓ | exa      | time:  48.284 ms | iters: 21    | obj: -1.012837e+00 (min) | CPU: 190.73 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 163.639 ms | iters: 24    | obj: -1.012837e+00 (min) | CPU:  31.34 KiB
│  │  ✓ | adnlp    | time: 358.778 ms | iters: 24    | obj: -1.012837e+00 (min) | CPU: 109.19 MiB
│  │  ✓ | exa      | time: 109.175 ms | iters: 24    | obj: -1.012837e+00 (min) | CPU: 338.45 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 325.086 ms | iters: 23    | obj: -1.012837e+00 (min) | CPU:  30.11 KiB
│  │  ✓ | adnlp    | time: 723.662 ms | iters: 23    | obj: -1.012837e+00 (min) | CPU: 209.71 MiB
│  │  ✓ | exa      | time: 250.037 ms | iters: 23    | obj: -1.012837e+00 (min) | CPU: 626.48 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  26.676 ms | iters: 21    | obj: -1.012835e+00 (min) | CPU:  12.96 MiB
│  │  ✓ | adnlp    | time:  53.576 ms | iters: 21    | obj: -1.012835e+00 (min) | CPU:  22.84 MiB
│  │  ✓ | exa      | time:  14.650 ms | iters: 21    | obj: -1.012835e+00 (min) | CPU:   4.41 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  67.872 ms | iters: 22    | obj: -1.012835e+00 (min) | CPU:  32.06 MiB
│  │  ✓ | adnlp    | time: 169.798 ms | iters: 22    | obj: -1.012835e+00 (min) | CPU:  58.83 MiB
│  │  ✓ | exa      | time:  38.202 ms | iters: 22    | obj: -1.012835e+00 (min) | CPU:  10.86 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 151.962 ms | iters: 24    | obj: -1.012836e+00 (min) | CPU:  65.45 MiB
│  │  ✓ | adnlp    | time: 316.778 ms | iters: 24    | obj: -1.012836e+00 (min) | CPU: 126.65 MiB
│  │  ✓ | exa      | time:  84.893 ms | iters: 24    | obj: -1.012836e+00 (min) | CPU:  22.40 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 290.673 ms | iters: 21    | obj: -1.012830e+00 (min) | CPU: 128.68 MiB
│  │  ✓ | adnlp    | time: 585.030 ms | iters: 21    | obj: -1.012830e+00 (min) | CPU: 224.75 MiB
│  │  ✓ | exa      | time: 192.521 ms | iters: 21    | obj: -1.012830e+00 (min) | CPU:  41.75 MiB
│  └─
└─

┌─ Problem: space_shuttle
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 906.398 ms | iters: 111   | obj: -3.853783e-01 (min) | CPU: 138.98 KiB
│  │  ✓ | adnlp    | time:   1.114 s  | iters: 101   | obj: -5.958694e-01 (min) | CPU: 172.82 MiB
│  │  ✓ | exa      | time: 474.205 ms | iters: 101   | obj: -5.958694e-01 (min) | CPU: 309.17 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   2.297 s  | iters: 115   | obj: -5.958750e-01 (min) | CPU: 143.67 KiB
│  │  ✓ | adnlp    | time:   2.955 s  | iters: 116   | obj: -5.958750e-01 (min) | CPU: 492.38 MiB
│  │  ✓ | exa      | time:   1.314 s  | iters: 116   | obj: -5.958750e-01 (min) | CPU: 498.08 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:   3.337 s  | iters: 73    | obj: -3.050197e-01 (min) | CPU:  95.56 KiB
│  │  ✓ | adnlp    | time:   6.902 s  | iters: 125   | obj: -5.958758e-01 (min) | CPU:   1.03 GiB
│  │  ✓ | exa      | time:   4.487 s  | iters: 127   | obj: -5.958758e-01 (min) | CPU: 798.48 KiB
│  │
│  │  N = 2000
│  │  ✗ | jump     | time: 501.367 s  | iters: 909   | obj: -8.229649e-03 (min) | CPU:   2.03 MiB
│  │  ✓ | adnlp    | time:  10.295 s  | iters: 94    | obj: -5.958760e-01 (min) | CPU:   1.56 GiB
│  │  ✓ | exa      | time:  13.576 s  | iters: 145   | obj: -5.958760e-01 (min) | CPU:   1.36 MiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time: 766.202 ms | iters: 113   | obj: -3.854923e-01 (min) | CPU: 101.75 MiB
│  │  ✓ | adnlp    | time:   2.132 s  | iters: 205   | obj: -5.958694e-01 (min) | CPU: 409.08 MiB
│  │  ✓ | exa      | time: 663.862 ms | iters: 208   | obj: -5.958694e-01 (min) | CPU:  62.50 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   1.281 s  | iters: 77    | obj: -5.958750e-01 (min) | CPU: 230.97 MiB
│  │  ✓ | adnlp    | time:   4.158 s  | iters: 166   | obj: -5.958750e-01 (min) | CPU: 847.91 MiB
│  │  ✓ | exa      | time:   1.361 s  | iters: 166   | obj: -5.958750e-01 (min) | CPU: 123.22 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  32.575 s  | iters: 480   | obj: -3.050197e-01 (min) | CPU:   1.24 GiB
│  │  ✓ | adnlp    | time:   5.133 s  | iters: 96    | obj: -5.958758e-01 (min) | CPU: 985.88 MiB
│  │  ✓ | exa      | time:   2.069 s  | iters: 95    | obj: -5.958758e-01 (min) | CPU: 159.66 MiB
│  │
│  │  N = 2000
│  │  ✗ | jump     | time:  73.980 s  | iters: 537   | obj: -3.343345e-01 (min) | CPU:   3.02 GiB
│  │  ✗ | adnlp   : ERROR: DomainError(Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:   7.602 s  | iters: 161   | obj: -5.958760e-01 (min) | CPU: 432.80 MiB
│  └─
└─

┌─ Problem: steering
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  15.237 ms | iters: 8     | obj: 5.545770e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time:  19.208 ms | iters: 8     | obj: 5.545770e-01  (min) | CPU:   4.89 MiB
│  │  ✓ | exa      | time:  11.664 ms | iters: 8     | obj: 5.545770e-01  (min) | CPU: 102.95 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  36.918 ms | iters: 8     | obj: 5.545719e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time:  46.355 ms | iters: 8     | obj: 5.545719e-01  (min) | CPU:  12.13 MiB
│  │  ✓ | exa      | time:  29.995 ms | iters: 8     | obj: 5.545719e-01  (min) | CPU: 213.33 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  83.419 ms | iters: 8     | obj: 5.545711e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time: 103.758 ms | iters: 8     | obj: 5.545711e-01  (min) | CPU:  24.19 MiB
│  │  ✓ | exa      | time:  69.884 ms | iters: 8     | obj: 5.545711e-01  (min) | CPU: 396.70 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 180.225 ms | iters: 8     | obj: 5.545709e-01  (min) | CPU:  11.59 KiB
│  │  ✓ | adnlp    | time: 223.082 ms | iters: 8     | obj: 5.545709e-01  (min) | CPU:  48.33 MiB
│  │  ✓ | exa      | time: 173.779 ms | iters: 8     | obj: 5.545709e-01  (min) | CPU: 763.89 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:  18.066 ms | iters: 11    | obj: 5.545770e-01  (min) | CPU:   8.77 MiB
│  │  ✓ | adnlp    | time:  20.788 ms | iters: 11    | obj: 5.545770e-01  (min) | CPU:   8.31 MiB
│  │  ✓ | exa      | time:  10.987 ms | iters: 11    | obj: 5.545770e-01  (min) | CPU:   2.35 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  51.568 ms | iters: 13    | obj: 5.545719e-01  (min) | CPU:  22.17 MiB
│  │  ✓ | adnlp    | time:  59.853 ms | iters: 13    | obj: 5.545719e-01  (min) | CPU:  23.19 MiB
│  │  ✓ | exa      | time:  32.416 ms | iters: 13    | obj: 5.545719e-01  (min) | CPU:   5.89 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time: 113.552 ms | iters: 14    | obj: 5.545711e-01  (min) | CPU:  45.15 MiB
│  │  ✗ | adnlp   : ERROR: DomainError(-Inf, "sincos(x) is only defined for finite x.")
│  │  ✓ | exa      | time:  75.135 ms | iters: 14    | obj: 5.545711e-01  (min) | CPU:  11.87 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time: 275.347 ms | iters: 14    | obj: 5.545709e-01  (min) | CPU:  90.96 MiB
│  │  ✓ | adnlp    | time: 312.391 ms | iters: 14    | obj: 5.545709e-01  (min) | CPU:  97.52 MiB
│  │  ✓ | exa      | time: 212.689 ms | iters: 14    | obj: 5.545709e-01  (min) | CPU:  23.54 MiB
│  └─
└─

┌─ Problem: vanderpol
│
├──┬ Solver: ipopt, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   3.290 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:   5.096 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU: 955.09 KiB
│  │  ✓ | exa      | time:   2.467 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:  53.50 KiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:   6.974 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:  11.137 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   2.30 MiB
│  │  ✓ | exa      | time:   5.023 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU: 102.56 KiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  13.179 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:  21.324 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   4.58 MiB
│  │  ✓ | exa      | time:   9.390 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU: 184.75 KiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  25.386 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:   5.42 KiB
│  │  ✓ | adnlp    | time:  42.085 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:   9.13 MiB
│  │  ✓ | exa      | time:  18.126 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU: 348.81 KiB
│  └─
│
├──┬ Solver: madnlp, Discretization: trapeze
│  │
│  │  N = 200
│  │  ✓ | jump     | time:   4.764 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   5.04 MiB
│  │  ✓ | adnlp    | time:   4.859 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   1.69 MiB
│  │  ✓ | exa      | time:   1.851 ms | iters: 3     | obj: 1.047836e+00  (min) | CPU:   1.33 MiB
│  │
│  │  N = 500
│  │  ✓ | jump     | time:  10.769 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:  12.23 MiB
│  │  ✓ | adnlp    | time:  11.182 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   4.08 MiB
│  │  ✓ | exa      | time:   4.385 ms | iters: 3     | obj: 1.047812e+00  (min) | CPU:   3.15 MiB
│  │
│  │  N = 1000
│  │  ✓ | jump     | time:  21.722 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:  24.67 MiB
│  │  ✓ | adnlp    | time:  22.482 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   8.06 MiB
│  │  ✓ | exa      | time:   8.462 ms | iters: 3     | obj: 1.047808e+00  (min) | CPU:   6.19 MiB
│  │
│  │  N = 2000
│  │  ✓ | jump     | time:  56.214 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:  49.91 MiB
│  │  ✓ | adnlp    | time:  56.057 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:  16.02 MiB
│  │  ✓ | exa      | time:  35.517 ms | iters: 3     | obj: 1.047807e+00  (min) | CPU:  12.27 MiB
│  └─
└─